epilectrik
/
gr00t-WholeBodyControl
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
1 Commit
1 Branch
0 Tags
999 MiB
 
 
 
 
 
 
Tree: ffe9f7faea
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'ffe9f7faea'
${ noResults }
gr00t-WholeBodyControl/gr00t_wbc/sim2mujoco/resources/robots/g1
Dennis Da ffe9f7faea
Initial commit 		4 months ago
..
meshes Initial commit 4 months ago
policy Initial commit 4 months ago
README.md Initial commit 4 months ago
g1.urdf Initial commit 4 months ago
g1.xml Initial commit 4 months ago
g1.yaml Initial commit 4 months ago
g1_gear_wbc.xml Initial commit 4 months ago
g1_gear_wbc.yaml Initial commit 4 months ago

README.md

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 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

  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.