Roboharness: G1 Humanoid WBC Reach

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

stand

Step: 200 | Sim time: 0.400s | Cameras: front, side, top, close_up

close_up

front

side

top

Interactive 3D Scene

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

reach_left

Step: 800 | Sim time: 1.600s | Cameras: front, side, top, close_up

close_up

front

side

top

Interactive 3D Scene

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

reach_both

Step: 1400 | Sim time: 2.800s | Cameras: front, side, top, close_up

close_up

front

side

top

Interactive 3D Scene

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

retract

Step: 2000 | Sim time: 4.000s | Cameras: front, side, top, close_up

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.