ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | proprietary |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/manumerous/wb_humanoid_mpc.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
unitree g1 humanoid model
Additional Links
No additional links.
Maintainers
- Manuel Yves Galliker
Authors
No additional authors.
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
- Open MuJoCo Viewer
pip install mujoco
python -m mujoco.viewer
- Drag and drop the MJCF/URDF model file (
g1_XXX.xml/g1_XXX.urdf) to the MuJoCo Viewer.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| g1_centroidal_mpc |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged g1_description at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.