Estimating Unitree G1 actuator heat loss in Isaac Sim with a physics-based model
IsaiahBallah · x · 2026-09-22
A robotics practitioner shows how to estimate actuator heat loss on a Unitree G1 in Isaac Sim: joint torque and velocity (also reported by unitreesdk2 on the real robot) feed a Joule-heating-plus-friction model per joint, with USD material color shifting from grey to red to flag overheating. The companion arXiv paper presents a physics-based, linear-in-parameters power model for the G1's 7-DoF arm, with baseline-torque correction and multi-joint coupling terms, identified from onboard power measurements across 897 trajectories.
More from Embodied
- IROS 2026 Hits Pittsburgh: 4,000+ Attendees, Nearly 2,000 Papers — heatherknight · 2026-09-23
- Jim Fan trains robots on human video, calls VR teleop rigs unscalable 'torture devices' — dawnsongtweets · 2026-09-23
- Dev builds an ESP32 face for his AI agent using Copilot CLI, open-sourced — DanWahlin · 2026-09-23
- seeMote Cube debuts: a spatial accessory for Vision Pro with IR 6DoF tracking — OwariDa · 2026-09-22
- RoboDawn: Tsinghua & Tencent Hunyuan drive robots with frozen VLM, 73.6% one-shot success — _akhaliq · 2026-09-22
- PragmaBot: robots learn online from real-world failures without retraining, RA-L/IROS 2026 — ChongZzZhang · 2026-09-22