Unitree G1

Run

Verdict

pass

CoM start

0.692 m

CoM min

0.692 m (100.0%)

CoM end

0.693 m (100.2%)

Base z start / min / end

0.790 / 0.790 / 0.792 m

Base drift

+0.2 cm

Max tilt

0.0°

Completed 10 s

yes

Diverged

no

Real-time factor

26.37× (0.4 s wall)

Load

1092 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

google-deepmind/mujoco_menagerie/unitree_g1

Commit

c96a32d28fb5da84da38c1da4d749e7a13212855

Entry

scene.xml

License

BSD-3-Clause

Size

19.7 MB

Mass

33.34 kg

Actuators

29

Timestep

0.002 s

Keyframe

stand

Balance joints

4

Runtime flags

none

Meshes

as published

Reproduce this row

pnpm --filter @hs/engine engine coach --only unitree_g1