Unitree G1
Unitree G1 is a humanoid with 29 joints, made by Unitree Robotics. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. The licence text is in LICENSE.
Not made by Lucen Robotics. Listed as a reference model for simulation.
The source's own README is kept unchanged as SOURCE_README.md.
How it was set up
The files come from unitree_g1 in MuJoCo Menagerie, at commit 822c2d8.
The robot card was drafted from the model by lucen robot init, as in Add your robot.
The model file does not state the values below. Each one comes from the source beside it.
| Setting | Value | Where it comes from |
|---|---|---|
| Control rate | 50 Hz | Playground g1/joystick.py ctrl_dt=0.02 |
| Action | offset from the default pose | Playground g1/joystick.py: motor_targets = default_pose + action * action_scale |
| Action scale | 0.5 | Playground g1/joystick.py action_scale=0.5 |
| What a policy senses | joint positions, joint velocities, base angular velocity, gravity direction | the G1's joint encoders and IMU |
| Command | forward, sideways and turning speed | Playground's joystick command (vx, vy, yaw) |
| Everything else | read from the model file | joint order, the stand keyframe, ranges, and kp 500 with per-joint kv and force limits from the MJCF's own <position> actuators (Menagerie's README calls them "needs tuning"). |
The configs cited above, at the commits read:
- Playground: MuJoCo Playground, commit
4057c14. Each robot's task file, under locomotion or manipulation, in itsdefault_config().
No file from the source was changed. This README, the robot card and the robot's pictures are new.