Recently, a combined study of high-resolution molecular crossed beam experiment and accurate full-dimensional time-dependent theory, including full spin−orbit characteristics on the effect of electronic spin and orbital angular momenta in the F + HD reaction, was reported by some of us, focusing on the partial wave resonance phenomenon (Science 2021, 371, 936−940). It revealed that the time-dependent theory could explain all of the details observed in the high-resolution experiment. Here, we develop two time-independent close-coupling methods using hyperspherical coordinates, including the two-state model, where only a part of the spin−orbit characteristics is considered, and the six-state model, where the full spin−orbit characteristics is considered. With these two newly developed theoretical models and the adiabatic theoretical model, the detailed reaction dynamics of the F + HD (v = 0, j = 0) reaction and the Cl + H 2 (v = 0, j = 0) reaction are investigated and compared. Some of the results are compared with the time-dependent quantum wave packet theory and the experimental observations, and good agreements have been obtained, which suggests the validity of the pure-procession approximation in the six-state model using different theoretical methods. This work demonstrates the ability of the reactive scattering theory including full spin−orbit characteristics for describing the reactions of a halogen atom plus hydrogen molecule and its isotopologues.