I trained in Genesis, then validated in MuJoCo (mjlab) before deploying.
It can recover from pushes and tracks forward, lateral and yaw velocity commands.
Happy to answer any questions!!
I'm trying to implement motion mimic on the Unitree G1 (23 DOF), but everything I find is for the 29 DOF version.
Has anyone here worked on motion mimic for 23 DOF version? If yes can you please share me the resources you have used or framework you have used.
That would be great help for me!
I tried Genesis Humanoid (tweaked for 23 dof) which worked till an extend for sim2real but not that effective and then I used Unitree RL Mjlab which failed on sim2real.
And then I am searching for 23 dof but could not find anything standard.