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Add G1 running policy trained with hydro-elastic contact model #25

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Add G1 running policy trained with hydro-elastic contact model #25

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c762a9c
Feature/g1 sand demo policy (#1)
jnskkmhr Jan 13, 2026
20f98a7
fix asset path
jnskkmhr Jan 13, 2026
04d3e7d
modify g1 box foot xml
jnskkmhr Jan 13, 2026
ecf6524
add old g1 model with box foot
jnskkmhr Jan 13, 2026
bcc1320
add old g1 model with box foot
jnskkmhr Jan 13, 2026
bc0eac2
add rigid policy too
jnskkmhr Jan 13, 2026
00dd76f
modify init pose
jnskkmhr Jan 13, 2026
69b7ae0
rename flat foot asset and update readme
jnskkmhr Jan 13, 2026
749dec3
add updated sand policy
jnskkmhr Jan 22, 2026
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1 change: 1 addition & 0 deletions unitree_g1/README.md
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Expand Up @@ -10,6 +10,7 @@ MJCF/URDF for the G1 robot:
|------------------------------------------|:--------------:|:------------------------:|---------------|:-------:|:---------:|:-------:|:--------:|
| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_rev_1_0_box_foot` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
| `g1_29dof_rev_1_0_with_inspire_hand_DFQ` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 12*2 |
| `g1_29dof_rev_1_0_with_inspire_hand_FTP` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 12*2 |
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