Unitree G1 12-DoF

Run

Verdict

pass

CoM start

0.698 m

CoM min

0.696 m (99.6%)

CoM end

0.696 m (99.7%)

Base z start / min / end

0.793 / 0.790 / 0.791 m

Base drift

-0.2 cm

Max tilt

0.8°

Completed 10 s

yes

Diverged

no

Real-time factor

42.23× (0.2 s wall)

Load

1138 ms

Runs the full 10 s without a physics reset, the centre of mass never drops below 80% of its start height, and it ends within 10% of the start. Base drift is reported alongside.

Model

Repo

unitreerobotics/unitree_rl_gym/resources/robots/g1_description

Commit

276801e46c5d433564f24658bac64f254b7d2d4b

Entry

scene.xml

License

BSD-3-Clause

Size

25.2 MB

Mass

32.11 kg

Actuators

12

Timestep

0.002 s

Keyframe

qpos0

Balance joints

4

Runtime flags

none

Meshes

as published

Reproduce this row

pnpm --filter @hs/engine engine coach --only unitree_g1_12dof