Unitree H1 10-DoF

Run

Verdict

pass

CoM start

1.011 m

CoM min

0.998 m (98.8%)

CoM end

0.998 m (98.8%)

Base z start / min / end

1.050 / 1.036 / 1.036 m

Base drift

-1.4 cm

Max tilt

0.8°

Completed 10 s

yes

Diverged

no

Real-time factor

55.95× (0.2 s wall)

Load

708 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/h1

Commit

276801e46c5d433564f24658bac64f254b7d2d4b

Entry

scene.xml

License

BSD-3-Clause

Size

14.2 MB

Mass

51.65 kg

Actuators

10

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_h1_10dof