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.
4.5 KiB
4.5 KiB
Unitree G1 Description (URDF & MJCF)
Overview
This package includes a streamlined robot description (URDF & MJCF) for the Unitree G1, developed by Unitree Robotics.
Unitree G1 have 43 DOFs:
root [⚓] => /pelvis/
left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
left_knee_joint [⚙+Y] => /left_knee_link/
left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
right_knee_joint [⚙+Y] => /right_knee_link/
right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
waist_yaw_joint [⚙+Z] => /waist_yaw_link/
waist_roll_joint [⚙+X] => /waist_roll_link/
waist_pitch_joint [⚙+Y] => /torso_link/
logo_joint [⚓] => /logo_link/
head_joint [⚓] => /head_link/
left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
left_elbow_joint [⚙+Y] => /left_elbow_link/
left_wrist_roll_joint [⚙+X] => /left_wrist_roll_link/
left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
left_hand_palm_joint [⚓] => /left_hand_palm_link/
left_hand_zero_joint [⚙+Y] => /left_hand_zero_link/
left_hand_one_joint [⚙+Z] => /left_hand_one_link/
left_hand_two_joint [⚙+Z] => /left_hand_two_link/
left_hand_three_joint [⚙+Z] => /left_hand_three_link/
left_hand_four_joint [⚙+Z] => /left_hand_four_link/
left_hand_five_joint [⚙+Z] => /left_hand_five_link/
left_hand_six_joint [⚙+Z] => /left_hand_six_link/
right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
right_elbow_joint [⚙+Y] => /right_elbow_link/
right_wrist_roll_joint [⚙+X] => /right_wrist_roll_link/
right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
right_hand_palm_joint [⚓] => /right_hand_palm_link/
right_hand_zero_joint [⚙+Y] => /right_hand_zero_link/
right_hand_one_joint [⚙+Z] => /right_hand_one_link/
right_hand_two_joint [⚙+Z] => /right_hand_two_link/
right_hand_three_joint [⚙+Z] => /right_hand_three_link/
right_hand_four_joint [⚙+Z] => /right_hand_four_link/
right_hand_five_joint [⚙+Z] => /right_hand_five_link/
right_hand_six_joint [⚙+Z] => /right_hand_six_link/
Visulization with MuJoCo
-
Open MuJoCo Viewer
pip install mujoco python -m mujoco.viewer -
Drag and drop the MJCF/URDF model file (
g1_body29_hand14.xml/g1_body29_hand14.urdf) to the MuJoCo Viewer.