LeRobot adds G1-23 embodiment support for Unitree G1
Decision Brief
What changedLeRobot now supports the 23-DOF variant of the Unitree G1 humanoid via a new embodiment config, with 29-DOF remaining the default.
Why it mattersDevelopers using LeRobot to control the Unitree G1 can now switch to the 23-DOF configuration with --robot.embodiment=g1_23, though this variant does not yet support MuJoCo simulation, gravity compensation, or the 29-DOF-dependent SONIC whole-body controller.
Who should careOpen-source model users
Affected stackNo specific stack identified
Source confidenceHigh · Official release / blog / repo
The commit introduces a UnitreeG1Config.embodiment field with g1_29 and g1_23 options, defaulting to g1_29 to preserve existing behavior. Both variants share the 29-slot DDS transport layout; G1-23 uses 23 joints and leaves the 6 nonexistent joint slots inactive, while kp, kd and default_positions vectors remain 29 elements indexed by DDS slot. A new g1_embodiments.py shares default gain tables by joint name, with gains set to zero for missing joints.
Summary basis: full article readCompiled from the source scope noted above; the original remains authoritative.
Sources
- LeRobot（HuggingFace 机器人）
HuggingFace LeRobot — embodied-AI / robotics learning library; new models, datasets, and policies.
- LeRobot（HuggingFace 机器人）
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