About deploy the model on the other types of robots

[zhangqi000808-ctrl]

Hello,

After reviewing the entire paper and code, I found that the current strategy is only applicable to the unitree G1 with 29 DOF. If we want to apply this strategy to a 23 DOF robot (excluding the waist degree of freedom), are there any specific solutions?

[zst1406217]

Hi,

You can try to replace the robot urdf in the training config, and remember to edit motion reference to Unitree G1 23 DOF version.