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unitree_ros/robots/g1_description
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matheecs e6b9e8c669 add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
..
images update g1_29dof_with_hand model 2024-09-25 11:37:27 +08:00
meshes add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
README.md add h1_2_description 2024-10-09 20:51:51 +08:00
g1_23dof.urdf add d435 and mid360 info in g1 urdf 2024-09-24 16:57:43 +08:00
g1_23dof.xml update G1 urdf&mjcf 2024-09-03 16:58:00 +08:00
g1_23dof_rev_1_0.urdf add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
g1_23dof_rev_1_0.xml add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
g1_29dof.urdf add d435 and mid360 info in g1 urdf 2024-09-24 16:57:43 +08:00
g1_29dof.xml update G1 urdf&mjcf 2024-09-03 16:58:00 +08:00
g1_29dof_rev_1_0.urdf add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
g1_29dof_rev_1_0.xml add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
g1_29dof_with_hand.urdf update g1_29dof_with_hand model 2024-09-25 11:37:27 +08:00
g1_29dof_with_hand.xml update g1_29dof_with_hand model 2024-09-25 11:37:27 +08:00
g1_29dof_with_hand_rev_1_0.urdf add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
g1_29dof_with_hand_rev_1_0.xml add g1 rev 1.0 urdf & mjcf 2024-10-22 12:30:36 +08:00
g1_dual_arm.urdf add d435 and mid360 info in g1 urdf 2024-09-24 16:57:43 +08:00
g1_dual_arm.xml update G1 urdf&mjcf 2024-09-03 16:58:00 +08:00

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.

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.