# Unitree G1 Description (URDF & MJCF)

## Overview

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/).

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_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     |

## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)

1. Open MuJoCo Viewer

   ```bash
   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.