How many times must a G1 humanoid re-stand to nail one 4x8 sheet of sheathing?
research/buildbot-stance
How many times must a G1 humanoid re-stand to nail one 4x8 sheet? About 13 stances at 5 platform heights: with its feet planted it holds a 3.4 kg nailer at 50 N only 0.7-1.5 m high and 0.3 m sideways, so one stance covers at best 6 of 62 nails, and the sheet matches hand nailing (372 s) only if each re-stance takes under 26-29 s (push to seat and re-stance time are swept, not sourced; no walking simulated).
What it found
MuJoCo whole-body statics of the Menagerie Unitree G1 holding a 3.4 kg nailer with its feet planted (reach 0.3–0.5 m, height 0–1.6 m, sideways 0–0.8 m, pushes of 0, 50 and 100 N, torque and friction limits). At 0.4 m and 50 N it holds only 32 of 153 points (0.7–1.5 m high, at most 0.3 m sideways); the best stance covers 6 of the sheet’s 62 nails (10 at 0.3 m), floor stances reach at most 29, and a 100 N push seat leaves no nail reachable. Covering the whole sheet takes about 13 stances at 5 platform heights (9 under a generous grid rule). Nailing and moves take 25–59 s; with 12 re-stances the sheet equals the 372 s hand estimate at 26–29 s per re-stance. The push to seat a nail and the re-stance time are swept, not sourced; the IK is not a search for the best posture, so the low nails are an upper bound on difficulty; no walking, platform or recoil is simulated.
A figure from its own output
Paper, code and results
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Produced with AI assistance (Claude). Results are from the code in this repository and are simulated or stylised unless the abstract says otherwise; nothing here implies affiliation with or endorsement by any lab, researcher or company cited. MIT licensed.