Series

G1 Mujoco Telemetry Control

The "G1 Mujoco Telemetry Control" series has 6 parts — read them in order from part 1.

unitree-g1mujocoddsPart 1

Bring up Unitree G1 in MuJoCo through SDK2 DDS: robot, scene, domain, interface, joystick, and real low-level topics.

6/13/202613 min read

unitree-g1mujocofoxglovePart 2

Dissect LAFAN1_MCAP_WORKING.py and convert G1 CSV poses into /tf MCAP for kinematic playback in Foxglove.

6/13/202613 min read

unitree-g1mujocoplotjugglerPart 3

Use PlotJuggler to inspect SRBD, MPC, feet references, and wbid_solve_time in the G1 MuJoCo MPC/WBID stack.

6/13/202616 min read

unitree-g1mujocowbidPart 4

Compare posture PD and contact-aware WBID for G1 MuJoCo: gains, q_init, qddot, contact forces, tasks, and constraints.

6/13/202615 min read

unitree-g1mujocoopenwbtPart 5

Follow the OpenWBT pipeline: VR wrist pose, G1_29_ArmIK, action_hl_idx clipping, and G1 upper body control in MuJoCo.

6/13/202614 min read

unitree-g1mujocosim2realPart 6

A practical G1 sim2real checklist covering DDS, ROS_DOMAIN_ID, OpenWBT, .pkl logs, PlotJuggler, damping and torque guards.

6/13/202615 min read