Implementation reference / Unitree H1

Developers

Studio currently runs an interactive H1 physics simulation locally in the browser. This page describes what is usable now and what still needs a service connection. It does not advertise endpoints or credentials that do not exist.

Open Studio →Open H1 workspace →

Capability status

No simulated server responses

H1 simulationAvailable in browserUnitree H1 model, articulated joints and Rapier physics run inside Studio in your browser.

Scene switchingAvailable in browserFlat ground, pick & place, palletising, conveyor and cloth-press scenes load local rigid bodies.

TeleoperationAvailable in browserW/A/S/D and Q/E command movement; G or the grasp control attaches a nearby payload in the simulation.

Joint and physics inspectionAvailable in browserLive joint position, velocity, target and torque; editable gravity, foot friction and joint targets.

Local trainingAvailable in browserA single browser environment runs (1+1) evolution strategy over gait parameters. This is not PPO or GPU training.

DemonstrationsLocal draft onlyJoint, pose, action and object samples are saved on this device; replay inspects recorded states, not the live world.

Task specificationsLocal draft onlySkill definitions and experiment configurations are saved in this browser. They do not dispatch remote jobs.

Camera, depth and LiDAR observationsUnder developmentThese sensor streams are not generated or recorded by the current simulator.

External REST API and workspace keysUnder developmentNo public /v1 API or working Xynoid API keys are available. Key creation is not enabled.

WebSocket telemetry and ROS 2 bridgeUnder developmentThe ROS 2 panel displays local simulation values, not published ROS topics or a network stream.

Python / TypeScript SDK and CLIUnder developmentNo published @xynoid/sim package, Python package or CLI is available for installation.

GPU training and evaluationUnder developmentIsaac Lab, MuJoCo, PPO, SAC, remote workers and unseen evaluation are not connected.

Policy export and hardware deploymentUnder developmentNo ONNX, PyTorch or TensorRT conversion, Unitree gateway or physical H1 deployment is connected.

Current simulation boundary

The H1 scene, controller, telemetry and gait search run in the active browser tab. The simulation uses fixed 1/240 s physics steps; rendering and observed real-time factor depend on your device. The gait search evaluates completed episodes in one environment. It does not produce a deployable learned neural-network policy.

Data shown in Studio	Current source
Base pose, velocity, contacts and joint values	Live local physics state
Episode return and gait checkpoints	In-tab evolution strategy
Tasks, demonstrations and experiment definitions	Browser-local storage; not shared between devices
GPU utilization, ROS topics and hardware telemetry	Unavailable; no provider connected

Integration path

The project defines typed contracts for training, evaluation, export and robot connections. Those contracts are not public APIs. A real integration must authenticate requests, report provider-confirmed job states, store artifacts, validate policies on unseen scenarios and enforce hardware safety gates before any deployment can be offered.

Browser H1 simulation → training service (pending) → GPU worker (pending) → verified checkpoint (pending) → evaluation (pending) → robot gateway (pending)

For operating the current H1 workspace, see Docs. References there to future integrations should not be treated as live endpoints.