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Beta | 6*2 | 3 | 7*2 | 7*2 | +| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 | +| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 | +| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 | +| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 | +| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 | +| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 | + +## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco) + +1. Open MuJoCo Viewer + + ```bash + pip install mujoco + python -m mujoco.viewer + ``` + +2. 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