unitree_ros/robots/g1_description/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.