g1_description

Unitree G1 Description (URDF & MJCF)

Overview

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.{pitch, roll} gear ratio	wrist motor	lock waist	Update status	dof#leg	dof#waist	dof#arm	dof#hand
g1_23dof_mode_10	10	{22.5, 22.5}	null	no	Up-to-date	6*2	1	5*2	null
g1_29dof_mode_11	11	{22.5, 22.5}	4010	no	Up-to-date	6*2	3	7*2	null
g1_29dof_mode_12	12	{22.5, 22.5}	4010	yes	Up-to-date	6*2	3	7*2	null
g1_29dof_mode_13	13	{14.3, 22.5}	5010(new)	no	Up-to-date	6*2	3	7*2	null
g1_29dof_mode_14	14	{14.3, 22.5}	5010(new)	yes	Up-to-date	6*2	3	7*2	null
g1_29dof_mode_15	15	{22.5, 22.5}	5010(new)	no	Up-to-date	6*2	3	7*2	null
g1_29dof_mode_16	16	{22.5, 22.5}	5010(new)	yes	Up-to-date	6*2	3	7*2	null
g1_23dof_rev_1_0	4	{14.3, 22.5}	null		Up-to-date	6*2	1	5*2	null
g1_29dof_rev_1_0	5	{14.3, 22.5}	4010		Up-to-date	6*2	3	7*2	null
g1_29dof_with_hand_rev_1_0	5	{14.3, 22.5}	4010		Up-to-date	6*2	3	7*2	7*2
g1_29dof_rev_1_0_with_inspire_hand_DFQ	5	{14.3, 22.5}	4010		Up-to-date	6*2	3	7*2	12*2
g1_29dof_rev_1_0_with_inspire_hand_FTP	5	{14.3, 22.5}	4010		Up-to-date	6*2	3	7*2	12*2
g1_29dof_lock_waist_rev_1_0	6	{14.3, 22.5}	4010		Up-to-date	6*2	3	7*2	null
g1_29dof_lock_waist_with_hand_rev_1_0	6	{14.3, 22.5}	4010		Up-to-date	6*2	3	7*2	7*2
g1_dual_arm	9	null	4010		Up-to-date	null	null	7*2	null
g1_29dof_mode_18	18	{22.5, 22.5}	5010(new)	no	Up-to-date	6*2	3	7*2	null
g1_29dof_mode_15_with_dex1_1	15	{22.5, 22.5}	5010(new)	no	Up-to-date	6*2	3	7*2	2*2
g1_comp				no	Up-to-date	6*2	1	5*2	null
g1_23dof	1	{14.3, 14.5}	null		Deprecated	6*2	1	5*2	null
g1_29dof	2	{14.3, 14.5}	4010		Deprecated	6*2	3	7*2	null
g1_29dof_with_hand	2	{14.3, 14.5}	4010		Deprecated	6*2	3	7*2	7*2
g1_29dof_lock_waist	3	{14.3, 14.5}	4010		Deprecated	6*2	3	7*2	null

💡Note: The robot's mode_machine ID can be viewed in the app by navigating to Device → Data → Robot → Machine Type.

Visulization with MuJoCo

1. Open MuJoCo Viewer

   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.

Visulization with VSCode + Urdf Visualizer

Install VSCode and Urdf Visualizer

Q&A: How to Add AGX Backpack?

Add the following code snippet to the URDF file.

<!-- ADD AGX Backpack -->
<link name="backpack_link">
  <inertial>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <mass value="1.9"/>
    <inertia ixx="0.015510" ixy="0.000017" ixz="0.000563" iyy="0.010909" iyz="0.000059" izz="0.007288"/>
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="meshes/backpack_link.STL"/>
    </geometry>
    <material name="white"/>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <geometry>
      <mesh filename="meshes/backpack_link.STL"/>
    </geometry>
  </collision>
</link>
<joint name="backpack_joint" type="fixed">
  <origin xyz="-0.094605 -0.0005 0.165324" rpy="0 0 0"/>
  <parent link="torso_link"/>
  <child link="backpack_link"/>
</joint>