Unitree
========

Robot configurations for Unitree live in the
``embodichain_robots.unitree`` manufacturer namespace.

.. list-table::
   :class: robot-catalog
   :header-rows: 1
   :widths: 24 25 51

   * - Robot
     - Configuration class
     - Current coverage
   * - :doc:`Unitree G1 <g1>`
     - ``UnitreeG1Cfg``
     - Twenty-nine-joint humanoid with its standing pose and simulation PD defaults.
   * - :doc:`Unitree Go1 <go1>`
     - ``UnitreeGo1Cfg``
     - Twelve-joint floating-base quadruped with simulation PD defaults.
   * - :doc:`Unitree Go2 <go2>`
     - ``UnitreeGo2Cfg``
     - Twelve-joint floating-base quadruped with simulation PD defaults.
   * - :doc:`Unitree H1_2 <h1_2>`
     - ``UnitreeH12Cfg``
     - Twenty-seven-joint humanoid with its standing pose and simulation PD defaults.

.. toctree::
   :maxdepth: 1
   :hidden:

   g1
   go1
   go2
   h1_2