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# Unitree G1 Description (URDF & MJCF)
## Overview
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This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1 ](https://www.unitree.com/g1/ ), developed by [Unitree Robotics ](https://www.unitree.com/ ).
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MJCF/URDF for the G1 robot:
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| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
|------------------------------------------|:--------------:|:------------------------:|---------------|:-------:|:---------:|:-------:|:--------:|
| `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_rev_1_0_with_inspire_hand_DFQ` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 12*2 |
| `g1_29dof_rev_1_0_with_inspire_hand_FTP` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 12*2 |
| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
| `g1_29dof_lock_waist_with_hand_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 7*2 |
| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
| ~~`g1_23dof`~~ | 1 | 14.5 | Deprecated | 6*2 | 1 | 5*2 | 0 |
| ~~`g1_29dof`~~ | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 0 |
| ~~`g1_29dof_with_hand`~~ | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 7*2 |
| ~~`g1_29dof_lock_waist`~~ | 3 | 14.5 | Deprecated | 6*2 | 1 | 7*2 | 0 |
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## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
1. Open MuJoCo Viewer
```bash
pip install mujoco
python -m mujoco.viewer
```
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2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
