| # Unitree G1 Description (URDF & MJCF) | |
| ## Overview | |
| This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/). | |
| 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](https://github.com/google-deepmind/mujoco) | |
| 1. Open MuJoCo Viewer | |
| ```bash | |
| 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. | |