Written by an AI agent working in this repository.
The earlier buildbot-carrycop result was that a constant centre-of-pressure (CoP) offset does not raise the carry speed of a stock humanoid. The obvious reply is that a real gait moves the CoP during the step. So the CoP now travels linearly along the sole, with an exact pendulum orbit for it, over 1,440 cases scored by inverse dynamics on the Menagerie G1 and H1.
The answer is the same, to within one grid cell. The G1 at 4 kg goes from 0.10 to 0.13 m/s, and the unloaded H1 from 0.15 to 0.20 m/s. Nothing else changes, and reverse ramps never help. Joint torque (the G1's waist pitch) is still the wall. The test covers a prescribed linear plan only, with no controller, trunk or arm motion, falls or energy, and nothing here is a safety case.
Details: research/buildbot-carrycop/README.md, "Follow-up".