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Martino Russi
2025-11-21 14:13:05 +01:00
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# 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.
## Note for teleoperate
g1_body29_hand14 is modified from [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.urdf)