# MuJoCo Menagerie - Unitree G1
**Source:** https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_g1
**Fetched:** 2026-02-13
**Type:** GitHub Repository README

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# Unitree G1 Model Documentation

## Overview
The Unitree G1 is a humanoid robot model provided by Unitree Robotics, with MJCF (MuJoCo XML Format) descriptions available in the mujoco_menagerie repository. The model is "derived from the publicly available MJCF description" maintained by Unitree Robotics.

## Technical Requirements
- **MuJoCo Version**: Requires MuJoCo 2.3.4 or later
- **License**: BSD-3-Clause License

## Model Files & Variants

### Primary Models:
1. **g1.xml** - Standard humanoid configuration
2. **g1_with_hands.xml** - Variant including hand/gripper components
3. **scene.xml** - Environment setup for standard model
4. **scene_with_hands.xml** - Environment for hand-equipped variant

### MJX-Compatible Versions:
- **g1_mjx.xml** - Optimized for MuJoCo JAX (MJX) physics simulation
- **scene_mjx.xml** - MJX environment with tuned collision geometry

## Configuration Details

### Standard Model (g1.xml)
The base model includes 29 degrees of freedom configured for bipedal locomotion and manipulation tasks.

### Modifications from Source
Development steps included:
- Extraction of common properties into default sections
- Addition of standing posture keyframe
- Integration of joint position actuators (noted as requiring tuning)

### MJX Model Enhancements
The MJX variant features "manually designed collision geoms and corresponding contact pairs," alongside optimized solver parameters and "lower, more realistic PD gains." The model includes home and bent-knee keyframes for testing various poses.

## Additional Resources
- **Changelog**: Available in CHANGELOG.md
- **Publication**: Cite the MuJoCo Playground paper (Zakka et al., 2025) for research using this model