37 lines
1.6 KiB
Markdown
37 lines
1.6 KiB
Markdown
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# Unitree G1 Description (MJCF)
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> [!IMPORTANT]
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> Requires MuJoCo 2.3.4 or later.
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## Changelog
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- 10/12/2024: Use updated models from Unitree's official [repo](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description) (sha: c20ca8f1fe5e519474c6c8d10b1ce5c719dd7a65).
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- Model without hands: [g1_29dof_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_rev_1_0.xml)
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- Model with hands: [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.xml)
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- 20/05/2024: Initial release.
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## Overview
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This package contains a simplified robot description (MJCF) of the [G1 Humanoid
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Robot](https://www.unitree.com/g1/) developed by [Unitree
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Robotics](https://www.unitree.com/). It is derived from the [publicly available
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MJCF
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description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_rev_1_0.xml). Specifically, this model has the fully actuated waist but not the full hands.
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<p float="left">
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<img src="g1.png" width="400">
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<img src="g1_with_hands.png" width="400">
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</p>
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## MJCF derivation steps
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1. Copied the MJCF description from [g1_description](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_rev_1_0.xml).
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2. Manually edited the MJCF to extract common properties into the `<default>` section.
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3. Added stand keyframe.
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4. Added joint position actuators (needs tuning).
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5. Applied similar edits to `g1_with_hands.xml`.
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## License
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This model is released under a [BSD-3-Clause License](LICENSE).
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