67 lines
3.4 KiB
Markdown
67 lines
3.4 KiB
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="g1.png" width="500"/>
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</p>
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Current G1 have 37 DOFs:
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```text
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root [⚓] => /pelvis/
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left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
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left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
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left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
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left_knee_joint [⚙+Y] => /left_knee_link/
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left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
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left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
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right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
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right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
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right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
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right_knee_joint [⚙+Y] => /right_knee_link/
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right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
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right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
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torso_joint [⚙+Z] => /torso_link/
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left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
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left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
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left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
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left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
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left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
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left_palm_joint [⚓] => /left_palm_link/
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left_zero_joint [⚙+Y] => /left_zero_link/
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left_one_joint [⚙+Z] => /left_one_link/
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left_two_joint [⚙+Z] => /left_two_link/
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left_three_joint [⚙+Z] => /left_three_link/
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left_four_joint [⚙+Z] => /left_four_link/
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left_five_joint [⚙+Z] => /left_five_link/
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left_six_joint [⚙+Z] => /left_six_link/
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right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
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right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
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right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
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right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
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right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
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right_palm_joint [⚓] => /right_palm_link/
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right_zero_joint [⚙+Y] => /right_zero_link/
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right_one_joint [⚙+Z] => /right_one_link/
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right_two_joint [⚙+Z] => /right_two_link/
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right_three_joint [⚙+Z] => /right_three_link/
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right_four_joint [⚙+Z] => /right_four_link/
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right_five_joint [⚙+Z] => /right_five_link/
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right_six_joint [⚙+Z] => /right_six_link/
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imu_joint [⚓] => /imu_link/
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```
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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 model file (`scene.xml`) to the MuJoCo Viewer.
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