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 |
Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
|---|---|---|---|---|---|---|---|
g1_23dof |
1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
g1_29dof |
2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
g1_29dof_with_hand |
2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
g1_29dof_lock_waist |
3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
g1_23dof_rev_1_0 |
4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
g1_29dof_rev_1_0 |
5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
g1_29dof_with_hand_rev_1_0 |
5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
g1_29dof_lock_waist_rev_1_0 |
6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
g1_dual_arm |
9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
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.