G1
The Unitree G1 is a 29-DOF humanoid robot with articulated legs (12 DOF), waist (3 DOF), and arms (14 DOF). These environments use an MJX-optimized model with simplified collision geometry for efficient GPU/TPU simulation.
All G1 environments support:
- Joint position control with configurable action scaling
- Configurable control frequency (default 50 Hz)
- Per-episode domain randomization of friction, armature, masses, and joint friction loss
- Observation noise for sim-to-real robustness
- Random push perturbations for balance training
Tasks
| Environment | Description |
|---|---|
| G1Locomotion | Track velocity commands with a natural gait |
| G1Standing | Maintain upright balance at default pose |
| G1Standup | Stand up from a crouched position |