Drag a leg to put its foot where you want it — the hip, thigh and knee are worked out from the bone lengths in your own file. Nobody poses a robot by picking angles; they decide where the foot goes.

Playback writes joint angles straight into the scene, so every movement looks equally possible. It is a drawing.

That is also why the robot cycles its legs on the spot. Nothing here decides where the body goes — that comes from feet pushing against a floor, which is physics. Press Check and the verdict says how far it actually travelled, in centimetres.

Check plays the same clip through the motors in MuJoCo and measures what the drawing hides: the torque each joint is asked for against the effort your file declares for it, joints resting on their limit stops, feet sliding, links running into each other, and whether the robot is still upright at the end.

That comparison needs the description and the simulation in one place. A simulator alone no longer has the rating — we still do, because the physics model was written from your file.