diff --git a/dimos/robot/unitree/g1/manip_config.py b/dimos/robot/unitree/g1/manip_config.py
index 89681b6c8c..ad795c9ac0 100644
--- a/dimos/robot/unitree/g1/manip_config.py
+++ b/dimos/robot/unitree/g1/manip_config.py
@@ -53,6 +53,7 @@ def _urdf_joint_name(coordinator_name: str) -> str:
         {_urdf_joint_name(joint_name): joint_name for joint_name in _G1_TELEOP_MODEL_JOINTS}
     )
     .with_fixed_joints(*(_urdf_joint_name(name) for name in G1_WAIST_JOINTS))
+    .with_default_joint_acceleration_limit(2.0)
 )
 
 
diff --git a/dimos/robot/unitree/g1/test_g1_teleop.py b/dimos/robot/unitree/g1/test_g1_teleop.py
index 8050133cbd..b264280339 100644
--- a/dimos/robot/unitree/g1/test_g1_teleop.py
+++ b/dimos/robot/unitree/g1/test_g1_teleop.py
@@ -29,6 +29,7 @@
 from dimos.control.tasks.trajectory_task.trajectory_task import JOINT_TRAJECTORY_TASK_NAME
 from dimos.control.teleop_coordinator import TeleopControlCoordinator
 from dimos.core.coordination.blueprints import Blueprint
+from dimos.manipulation.planning.spec.validation import prepare_robot_model
 from dimos.manipulation.visualization.viser.config import ViserVisualizationConfig
 from dimos.robot.unitree.g1.blueprints.basic.unitree_g1_groot_wbc import (
     _G1_TELEOP_MODEL,
@@ -82,6 +83,12 @@ def test_g1_blueprint_uses_shared_bimanual_teleop_task() -> None:
     assert task.params["max_joint_velocity_rad_s"] == pytest.approx(np.deg2rad(120.0))
 
 
+@pytest.mark.self_hosted
+def test_g1_teleop_model_passes_planning_validation() -> None:
+    """The coordinator prepares this model at start; missing limits raise here."""
+    assert prepare_robot_model(_G1_TELEOP_MODEL).joint_space
+
+
 def test_g1_blueprint_keeps_bounded_trajectory_path_below_teleop() -> None:
     coordinator = next(
         atom