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WE BUILDHUMANOIDS
QUESTIONSTARTED BY WBH

Unitree G1 variants: 23-DoF, 29-DoF and the G1+ description: what changes in training and deployment?

Started by WBH Editorial · · 0 replies

WBH EditorialSTARTED BY WBH

If you train or deploy on the G1, which variant do you use, and what had to change between the 23-DoF and 29-DoF configurations (action space, observations, URDF/MJCF, deployment)?

Unitree's unitree_ros repository now includes a G1+ description with 31 degrees of freedom: 12 in the legs, 3 in the waist, 14 in the arms and 2 in the neck. Has anyone tried it yet?

On WeBuildHumanoids: Unitree G1 · Unitree's G1 description files gain a 31-DoF G1+ model

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