Unitree G1 Description (URDF &amp; MJCF)

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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 jazzy showing github. Known supported distros are highlighted in the buttons above.

g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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 kilted showing github. Known supported distros are highlighted in the buttons above.

g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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 rolling showing github. Known supported distros are highlighted in the buttons above.

g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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

g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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 galactic showing github. Known supported distros are highlighted in the buttons above.

g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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 iron showing github. Known supported distros are highlighted in the buttons above.

g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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 melodic showing github. Known supported distros are highlighted in the buttons above.

g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

API Docs
Browse Code
Wiki

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

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.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
humanoid_centroidal_mpc_test
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

API Docs Browse Code Wiki

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g1_description package from wb_humanoid_mpc repo

humanoid_centroidal_mpc humanoid_centroidal_mpc_ros2 humanoid_centroidal_mpc_test 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 mujoco_sim_interface robot_core robot_model

ROS Distro
github

API Docs
Browse Code
Wiki

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	2025-07-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ai robotics optimization nonlinear planning data-generation mpc locomotion walking humanoid-robot humanoid wholebodycontrol
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

unitree g1 humanoid model

Additional Links

No additional links.

Maintainers

Manuel Yves Galliker

Authors

No additional authors.