Roboharness: G1 Humanoid WBC Reach

Unitree G1 reaching targets using differential IK (Pinocchio + Pink). Controller Protocol demo with multi-view checkpoint captures.

reach_both

Step: 1400 | Sim time: 2.800s

close_up

front

side

top

Interactive 3D Scene

Open in new tab

Self-contained Three.js viewer (15.0 MB). Rotate, pan, and zoom to explore.

reach_left

Step: 800 | Sim time: 1.600s

close_up

front

side

top

Interactive 3D Scene

Open in new tab

Self-contained Three.js viewer (15.0 MB). Rotate, pan, and zoom to explore.

retract

Step: 2000 | Sim time: 4.000s

close_up

front

side

top

Interactive 3D Scene

Open in new tab

Self-contained Three.js viewer (15.0 MB). Rotate, pan, and zoom to explore.

stand

Step: 200 | Sim time: 0.400s

close_up

front

side

top

Interactive 3D Scene

Open in new tab

Self-contained Three.js viewer (15.0 MB). Rotate, pan, and zoom to explore.