Unitree G1 Description (MJCF)
Important
Requires MuJoCo 2.3.4 or later.
Changelog
- 10/12/2024: Use updated models from Unitree's official repo (sha: c20ca8f1fe5e519474c6c8d10b1ce5c719dd7a65).
- Model without hands: g1_29dof_rev_1_0
- Model with hands: g1_29dof_with_hand_rev_1_0
- 20/05/2024: Initial release.
Overview
This package contains a simplified robot description (MJCF) of the G1 Humanoid Robot developed by Unitree Robotics. It is derived from the publicly available MJCF description. Specifically, this model has the fully actuated waist but not the full hands.
MJCF derivation steps
- Copied the MJCF description from g1_description.
- Manually edited the MJCF to extract common properties into the
<default>section. - Added stand keyframe.
- Added joint position actuators (needs tuning).
- Applied similar edits to
g1_with_hands.xml.
License
This model is released under a BSD-3-Clause License.