Unitree R1

Run

Verdict

pass

CoM start

0.664 m

CoM min

0.659 m (99.3%)

CoM end

0.660 m (99.4%)

Base z start / min / end

0.746 / 0.741 / 0.742 m

Base drift

-0.3 cm

Max tilt

1.0°

Completed 10 s

yes

Diverged

no

Real-time factor

17.12× (0.6 s wall)

Load

1665 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/r1

Commit

1eb6642e3f3fdfb7fb13a9794fd6a2dd93ea0e7d

Entry

R1_C++.xml

License

BSD-3-Clause

Size

22.5 MB

Mass

28.93 kg

Actuators

29

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_r1