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g1_29dof.xml update G1 urdf&mjcf 2024-09-03 16:58:00 +08:00
g1_29dof_with_hand.urdf rename G1 fingers 2024-09-03 21:32:44 +08:00
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g1_joint_index_dds.md update G1 urdf&mjcf 2024-09-03 16:58:00 +08:00

README.md

Unitree G1 Description (URDF & MJCF)

Overview

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

As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot:

  • g1_23dof
  • g1_29dof
  • g1_29dof_with_hand
  • g1_dual_arm

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.