31 lines
856 B
Markdown
31 lines
856 B
Markdown
# Unitree G1 Description (URDF & MJCF)
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## Overview
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This package includes a streamlined 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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<p align="center">
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<img src="images/g1_23dof.png" width="45%"/>
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<img src="images/g1_29dof.png" width="45%"/>
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<img src="images/g1_29dof_with_hand.png" width="45%"/>
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<img src="images/g1_dual_arm.png" width="45%"/>
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</p>
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As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot:
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* `g1_23dof`
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* `g1_29dof`
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* `g1_29dof_with_hand`
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* `g1_dual_arm`
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## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
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1. Open MuJoCo Viewer
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```bash
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pip install mujoco
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python -m mujoco.viewer
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```
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2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
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