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README.md

Unitree G1 Description (URDF & MJCF)

Overview

This package includes a universal humanoid robot description (URDF & MJCF) for the Unitree G1, developed by Unitree Robotics.

MJCF/URDF for the G1 robot:

MJCF/URDF file name mode_machine Hip roll reduction ratio Update status dof#leg dof#waist dof#arm dof#hand
g1_23dof 1 14.5 Beta 6*2 1 5*2 0
g1_29dof 2 14.5 Beta 6*2 3 7*2 0
g1_29dof_with_hand 2 14.5 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

  1. Open MuJoCo Viewer

    pip install mujoco
python -m mujoco.viewer

  2. Drag and drop the MJCF/URDF model file (g1_XXX.xml/g1_XXX.urdf) to the MuJoCo Viewer.