Framework Operation Latency on Unitree H1 Robot Hardware Benchmarking 1.0
19,045Send Latency (ms)UniCon
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| UniConControl frequency=50Hz, Control protocol=Identity joint position control2026.01 | 19,045 | 6,315 | 732,749 | |
| SDKCommunication mode=Asynchronous (Async), Control frequency=50Hz, Control protocol=Identity joint position control2026.01 | 100,165 | — | 1,447,936 | |
| SDKCommunication mode=Synchronous (Sync), Control frequency=50Hz, Control protocol=Identity joint position control2026.01 | 101,172 | 1,261,150 | 18,051,559 | |
| ROS 2Control frequency=50Hz, Control protocol=Identity joint position control2026.01 | 587,179 | 5,088 | 1,658,882 |