E1 · G1 × H1
3 minRun the comparison block and explain in one sentence why the H1 has a higher CoM.
Done when: python3 kit/comparar.py unitree_g1/scene.xml unitree_h1/scene.xml; echo "saída: $?" → FICHA: 7 itens comparados and saída: 0.
Lesson 8 · 15 min
The spec sheet for your humanoid
A manufacturer spec sheet, a simulation file, and a measurement don't say the same thing, and sim-to-real lives in the difference. In this lesson you compare two Menagerie humanoids by script, build a spec sheet that separates the three sources, and leave with the study plan for the program.
Start the lesson
In this lesson you will
- 1comparar.py: 7 items read from the file, side by side
- 2The sheet in three columns: manufacturer, file, measurement
- 3Which robot a lab would buy today, and why
- 4The dated plan for the next FTH courses
Goal: compare two Menagerie humanoids by script and build your own spec sheet, separating manufacturer, file, and measurement.
01Three sources, one sheet
Each row of the sheet says where it came from. Tap each block.
Click each block in the diagram to see what it does.
The "difference" column is the sim-to-real to-do list.
02Which robot a lab would consider in Oct 2026
With a price only when there is a source, and always varying by version and reseller. Tap each one.
1. Unitree G1 EDU
It is the platform that shows up in almost everything: Menagerie (29 degrees of freedom), unitree_rl_lab, mjlab, retargeting (GMR), SONIC with open weights, and LeRobot.
The base (US$ 13.5 thousand) has no SDK; the EDU, which does, is on request.
2. Unitree R1
1.23 m, 27–29 kg, from 20 to 40 degrees of freedom depending on the version; US$ 4,900 to 5,900 in the official store (EDU on request).
Fewer people publish a controller for it than for the G1: less ready-made code.
3. Booster K1
95 cm, 19.5 kg, 22 degrees of freedom, 117 TOPS, 1 h 10 min walking at 1.1 m/s (official sheet). In the RoboCup 2026 program, US$ 14,999 is the public price.
The T1, from the same company, has a model in the Menagerie (booster_t1, 23 actuators); Booster's current line is T2 and K1, and the T1 may have been discontinued (uncertain).
4. Open
Berkeley Humanoid Lite: 3D-printed, under US$ 5 thousand in parts (reported), with training in Isaac Lab and sim2sim validation in the repository. ToddlerBot: 30 degrees of freedom, Jetson Orin NX, public parts list.
Both need a workbench and assembly time; the simulation model comes with it.
03Compare by script and fill in the sheet
comparar.py prints 7 items from the two files. The sheet template has the three columns; the brackets are what you fill in.
Terminal · G1 × H1
F=${FTH:-$HOME/fth}; cd $F/anatomia && . $F/.venv/bin/activate
python3 kit/comparar.py unitree_g1/scene.xml unitree_h1/scene.xml; echo "saída: $?"File · kit/ficha-modelo.md
# Ficha técnica — [robot] (version [base/EDU/…]) Data: [DD/MM/YYYY] · Simulation model: [Menagerie folder] @ [commit] | item | fabricante (fonte, data) | arquivo MJCF | medido no curso | diferença | |---|---|---|---|---| | graus de liberdade | [n] ([URL], [date]) | nu = [n] | — | [different version?] | | massa (kg) | [n] | [n] | — | [%] | | altura do CoM em pé (m) | — | [n] | — | — | | maior torque (N·m) | [n or "not published"] | [n] ([joint]) | agachado 90°: [n] | [%] | | sensores | [list from the sheet] | [n] no arquivo | + [added] | [what is missing] | | bateria | [mAh, S, h] | — | [Wh, derived calculation] | — | | computação | [CPU / Orin / Thor] | — | — | — | | equilíbrio sem controlador | — | — | fica com [n] N · cai com [n] N (0,2 s) | — | | estágio | [demo/piloto/produção] ([URL], [date]) | — | — | — |
Example from the repository
item unitree_g1 unitree_h1 GDL acionados (nu) 29 19 massa do modelo (kg) 33.3 51.4 altura do CoM (m) 0.69 0.95 maior torque (N·m) 139 300 junta do maior torque right_knee_joint right_knee sensores no arquivo 4 0 pose inicial stand home FICHA: 7 itens comparados saída: 0
The H1 is heavier and taller (CoM at 0.95 m) and has a 300 N·m knee in the model, but fewer degrees of freedom and no sensor declared in the file.
ERRO: não achei apptronik_apollo/scene.xml (nem em ~/fth/mujoco_menagerie). Rode a preparação da aula 2. saída: 1
The workbench downloaded only 4 humanoids. To compare another one, add the folder: git -C ~/fth/mujoco_menagerie sparse-checkout add apptronik_apollo, then run it again.
04What you built in this course
Four main deliverables. Tap a step to see "done when".
Lessons 3–5Body
joints, torque
3 exercises
Joints, torque, and sensors read from the file.
See the lessonLessons 6–8Limits
balance, spec sheet
3 exercises
Push limit and a three-column spec sheet.
See the lessonAt the end of the courseWorkbench ready, body read from the file, and a spec sheet with the differences noted.
8 lessonsClick an exercise to see what to do and the "done when".
- 1/5
Table
The table that separates demo, pilot, and production. Update it with every news item: the date is what keeps the table honest.
- 2/5
Workbench
The workbench that courses 1 through 4 reuse: venv, MuJoCo 3.16.0, and Menagerie at the tested commit.
- 3/5
Body
Joint tree, torque measured in the squat, and sensors checked against body weight: the body described by your own numbers.
- 4/5
Limits
The limit of the body without a controller, the energy calculation, and the spec sheet: the starting point of the locomotion course.
- 5/5
The whole course
Four deliverables in sequence. The workbench from lesson 2 is a prerequisite for every practice in the next FTH courses.
Order matters: without the workbench, nothing from lessons 3 to 8 runs.
05Build your plan with dates
Pick a start date and how much time you have per week. The plan lists the practices for each lesson.
plano.md
06Practice
Compare, fill in, and decide.
E2 · The G1 spec sheet
20 minCopy kit/ficha-modelo.md to ~/fth/ficha-g1.md and fill in the three columns with what you read and measured in lessons 1 to 7.
Done when: grep -c "\[" ~/fth/ficha-g1.md → 0 (no brackets left to fill in).
E3 · A third robot
10 minAdd another folder to the sparse-checkout (for example apptronik_apollo) and compare it with the G1. Heads up: the PAL TALOS has no scene.xml; use pal_talos/scene_position.xml.
Done when: python3 kit/comparar.py unitree_g1/scene.xml [pasta]/scene.xml | tail -1 → FICHA: 7 itens comparados.
07Lesson quiz
The explanation appears after you answer.
Question 1 of 3
What is the "diferença" column of the spec sheet for?skill
Correct
Different mass, degrees of freedom and torque between the file and the robot are exactly what makes the policy trained in simulation fail on the floor. Course 2 tackles that list.Not that one
Different mass, degrees of freedom and torque between the file and the robot are exactly what makes the policy trained in simulation fail on the floor. Course 2 tackles that list.Review: Three sources, one sheetQuestion 2 of 3
A lab wants the humanoid with the most open-source code ready for RL and retargeting. What does the program's research point to?
Correct
The G1 has become the de facto reference platform. A low price (R1) does not make up for the lack of ready-made code; the Atlas 2026 batch is committed to Hyundai and Google DeepMind (reported).Not that one
The G1 has become the de facto reference platform. A low price (R1) does not make up for the lack of ready-made code; the Atlas 2026 batch is committed to Hyundai and Google DeepMind (reported).Review: Which robot a lab would consider in Oct 2026Question 3 of 3
comparar.py says 139 N·m of maximum torque on the G1. How do you put that in the spec sheet?
Correct
139 N·m is the model's actuatorfrcrange. What was measured was the squat (31 N·m); from the manufacturer, Unitree does not publish per-joint torque on the page read.Not that one
139 N·m is the model's actuatorfrcrange. What was measured was the squat (31 N·m); from the manufacturer, Unitree does not publish per-joint torque on the page read.Review: Compare by script and fill in the sheetQuiz complete
You got {a} of {n} right. Get them all right and the lesson is marked as complete.Pick an option. The explanation shows up after you answer.
08In three sentences
Three sourcesManufacturer, file and measurement, each row with its own origin.
DifferenceWhat diverges between model and robot is the sim-to-real work.
NextWith the bench and the spec sheet ready, course 1 teaches the G1 to walk.