Unitree G1: carry, walk, doors (toolbot)
Collection
G1 policies trained in mjlab on HF Jobs (~$1 each), measured for energy: walk/stand, carry from PRISM clips. • 3 items • Updated
prism_cf_ball_m1_v10 dict | prism_cf_ball_m1_v12 dict | prism_cf_ball_m1_v13 dict | prism_cf_ball_m1_v14 dict | prism_cf_ball_m1_v15 dict | prism_cf_ball_m1_v16 dict | prism_cf_ball_m1_v17 dict | prism_cf_ball_m1_v18 dict | prism_cf_ball_m1_v19 dict | prism_cf_ball_m1_v20 dict | prism_cf_ball_m1_v21 dict | prism_cf_ball_m1_v23 dict | prism_cf_ball_m1_v9 dict | prism_cf_ball_m3_v25 dict | prism_cf_ball_m3_v26 dict | prism_cf_ball_m3_v27 dict | prism_cf_ball_m3_v28 dict | prism_cf_ball_m3_v29 dict | prism_cf_ball_m3_v31 dict | prism_cf_ball_m3_v32 dict | prism_cf_ball_m4_v32 dict | prism_cf_ball_m4_v33 dict | prism_cf_ball_m4_v34 dict | prism_cf_ball_m4_v35 dict | prism_cf_ball_m4_v36 dict | prism_cf_ball_m4_v37 dict | prism_cf_ball_m4_v38 dict | prism_cf_ball_m4_v39 dict | prism_cf_barrel_m0_v0 dict | prism_cf_barrel_m0_v1 dict | prism_cf_barrel_m0_v2 dict | prism_cf_barrel_m0_v3 dict | prism_cf_barrel_m0_v4 dict | prism_cf_barrel_m0_v5 dict | prism_cf_barrel_m0_v6 dict | prism_cf_barrel_m0_v7 dict | prism_cf_barrel_m0_v8 dict | prism_cf_barrel_m0_v9 dict | prism_cf_barrel_m1_v10 dict | prism_cf_barrel_m1_v11 dict | prism_cf_barrel_m1_v12 dict | prism_cf_barrel_m1_v13 dict | prism_cf_barrel_m1_v14 dict | prism_cf_barrel_m1_v15 dict | prism_cf_barrel_m1_v8 dict | prism_cf_barrel_m1_v9 dict | prism_cf_barrel_m3_v24 dict | prism_cf_barrel_m3_v25 dict | prism_cf_barrel_m3_v26 dict | prism_cf_barrel_m3_v27 dict | prism_cf_barrel_m3_v28 dict | prism_cf_barrel_m3_v29 dict | prism_cf_barrel_m3_v30 dict | prism_cf_barrel_m3_v31 dict | prism_cf_barrel_m4_v32 dict | prism_cf_barrel_m4_v33 dict | prism_cf_barrel_m4_v34 dict | prism_cf_barrel_m4_v35 dict | prism_cf_barrel_m4_v36 dict | prism_cf_barrel_m4_v37 dict | prism_cf_barrel_m4_v38 dict | prism_cf_barrel_m4_v39 dict | prism_cf_bin_m0_v0 dict | prism_cf_bin_m0_v1 dict | prism_cf_bin_m0_v2 dict | prism_cf_bin_m0_v3 dict | prism_cf_bin_m0_v4 dict | prism_cf_bin_m0_v5 dict | prism_cf_bin_m0_v6 dict | prism_cf_bin_m1_v11 dict | prism_cf_bin_m1_v12 dict | prism_cf_bin_m1_v13 dict | prism_cf_bin_m1_v14 dict | prism_cf_bin_m1_v15 dict | prism_cf_bin_m1_v9 dict | prism_cf_bin_m3_v24 dict | prism_cf_bin_m3_v25 dict | prism_cf_bin_m3_v26 dict | prism_cf_bin_m3_v27 dict | prism_cf_bin_m3_v28 dict | prism_cf_bin_m3_v29 dict | prism_cf_bin_m3_v30 dict | prism_cf_bin_m3_v31 dict | prism_cf_bin_m3_v32 dict | prism_cf_bin_m3_v33 dict | prism_cf_bin_m3_v34 dict | prism_cf_bin_m3_v35 dict | prism_cf_bin_m3_v36 dict | prism_cf_bin_m3_v37 dict | prism_cf_bin_m3_v38 dict | prism_cf_bin_m4_v32 dict | prism_cf_bin_m4_v33 dict | prism_cf_bin_m4_v34 dict | prism_cf_bin_m4_v35 dict | prism_cf_box_m0_v0 dict | prism_cf_box_m0_v1 dict | prism_cf_box_m0_v2 dict | prism_cf_box_m0_v3 dict | prism_cf_box_m0_v4 dict | prism_cf_box_m0_v5 dict | prism_cf_box_m0_v6 dict | prism_cf_box_m0_v7 dict | prism_cf_box_m1_v10 dict | prism_cf_box_m1_v11 dict | prism_cf_box_m1_v12 dict | prism_cf_box_m1_v13 dict | prism_cf_box_m1_v14 dict | prism_cf_box_m1_v15 dict | prism_cf_box_m1_v16 dict | prism_cf_box_m1_v8 dict | prism_cf_box_m1_v9 dict | prism_cf_box_m3_v24 dict | prism_cf_box_m3_v25 dict | prism_cf_box_m3_v26 dict | prism_cf_box_m3_v27 dict | prism_cf_box_m3_v28 dict | prism_cf_box_m3_v29 dict | prism_cf_box_m3_v30 dict | prism_cf_box_m3_v31 dict | prism_cf_box_m4_v32 dict | prism_cf_box_m4_v33 dict | prism_cf_box_m4_v34 dict | prism_cf_box_m4_v35 dict | prism_cf_box_m4_v36 dict | prism_cf_box_m4_v37 dict | prism_cf_box_m4_v38 dict | prism_cf_box_m4_v39 dict | prism_cf_box_m4_v40 dict | prism_cf_box_m4_v41 dict |
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Part of Ethgar's robot lab notebook: PRISM's released G1 clips converted for mjlab motion tracking; the toolbot carry policies (box, ball, barrel, bin) were trained on them. The code repository is private for now.
toolbot motions
Reference motions in mjlab's motion-tracking format (Unitree G1, 29 DoF, 50 fps). prism/: the 129 released clips of Amazon-FAR/far-prism-data (Apache-2.0; Wang et al., arXiv:2609.38172), converted by toolbot's scripts/convert_prism.py: root columns removed, bodies reordered to the robot entity, object trajectory kept under object_*, plus contact (T, 2: left/right hand on the object, from PRISM's contact sidecars), object_mass (PRISM category prior) and object_shape. Every clip passes a forward-kinematics check against the G1 model (index.json: fk_error_m).
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