1.1 KiB
1.1 KiB
Unitree G1 Description (URDF & MJCF)
Overview
This package includes a universal humanoid robot description (URDF & MJCF) for the Unitree G1, developed by Unitree Robotics.
MJCF/URDF for the G1 robot:
| MJCF/URDF file name | mode_machine |
|---|---|
g1_23dof |
1 |
g1_29dof/g1_29dof_with_hand |
2 |
g1_29dof_lock_waist |
3 |
g1_23dof_rev_1_0 |
4 |
g1_29dof_rev_1_0/g1_29dof_with_hand_rev_1_0 |
5 |
g1_29dof_lock_waist_rev_1_0 |
6 |
g1_dual_arm |
9 |
Visulization with MuJoCo
-
Open MuJoCo Viewer
pip install mujoco python -m mujoco.viewer -
Drag and drop the MJCF/URDF model file (
g1_XXX.xml/g1_XXX.urdf) to the MuJoCo Viewer.