Unitree H1-2

Run

Verdict

pass

CoM start

0.941 m

CoM min

0.936 m (99.5%)

CoM end

0.937 m (99.6%)

Base z start / min / end

1.031 / 1.026 / 1.028 m

Base drift

-0.4 cm

Max tilt

0.7°

Completed 10 s

yes

Diverged

no

Real-time factor

15.69× (0.6 s wall)

Load

1747 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_mujoco/unitree_robots/h1_2

Commit

1eb6642e3f3fdfb7fb13a9794fd6a2dd93ea0e7d

Entry

h1_2_handless.xml

License

BSD-3-Clause

Size

27.5 MB

Mass

66.98 kg

Actuators

27

Timestep

0.002 s

Keyframe

hs_stand

Balance joints

4

Runtime flags

none

Meshes

as published

Loader changes

• stand keyframe computed (hs_stand)

Reproduce this row

pnpm --filter @hs/engine engine coach --only unitree_h1_2