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g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_common_mpc humanoid_common_mpc_pyutils humanoid_common_mpc_ros2 humanoid_mpc_msgs humanoid_wb_mpc humanoid_wb_mpc_ros2 remote_control mujoco_vendor g1_centroidal_mpc g1_description g1_wb_mpc

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Package Summary

Tags No category tags.
Version 1.0.0
License proprietary
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
Checkout URI https://github.com/manumerous/wb_humanoid_mpc.git
VCS Type git
VCS Version main
Last Updated 2025-03-03
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
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.
robot_models/unitree_g1/g1_description/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
  1. 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

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