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lucen/unitree-g1

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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. Not made by Lucen Robotics. Listed as a reference model for simulation.

humanoid29 joints33.3 kg in simulation50 Hz
39.8 MB·67 files

All 67 checksums verified by the hub.

Files in lucen/unitree-g1 under assets
NameSizeDownloadUpdated
head_link.STL933 kBDownload assets/head_link.STL
left_ankle_pitch_link.STL71.2 kBDownload assets/left_ankle_pitch_link.STL
left_ankle_roll_link.STL653 kBDownload assets/left_ankle_roll_link.STL
left_elbow_link.STL88.8 kBDownload assets/left_elbow_link.STL
left_hand_index_0_link.STL476 kBDownload assets/left_hand_index_0_link.STL
left_hand_index_1_link.STL1.5 MBDownload assets/left_hand_index_1_link.STL
left_hand_middle_0_link.STL476 kBDownload assets/left_hand_middle_0_link.STL
left_hand_middle_1_link.STL1.5 MBDownload assets/left_hand_middle_1_link.STL
left_hand_palm_link.STL2.1 MBDownload assets/left_hand_palm_link.STL
left_hand_thumb_0_link.STL8.9 kBDownload assets/left_hand_thumb_0_link.STL
left_hand_thumb_1_link.STL476 kBDownload assets/left_hand_thumb_1_link.STL
left_hand_thumb_2_link.STL1.5 MBDownload assets/left_hand_thumb_2_link.STL
left_hip_pitch_link.STL182 kBDownload assets/left_hip_pitch_link.STL
left_hip_roll_link.STL192 kBDownload assets/left_hip_roll_link.STL
left_hip_yaw_link.STL296 kBDownload assets/left_hip_yaw_link.STL
left_knee_link.STL855 kBDownload assets/left_knee_link.STL
left_rubber_hand.STL2.3 MBDownload assets/left_rubber_hand.STL
left_shoulder_pitch_link.STL177 kBDownload assets/left_shoulder_pitch_link.STL
left_shoulder_roll_link.STL400 kBDownload assets/left_shoulder_roll_link.STL
left_shoulder_yaw_link.STL249 kBDownload assets/left_shoulder_yaw_link.STL
left_wrist_pitch_link.STL86.0 kBDownload assets/left_wrist_pitch_link.STL
left_wrist_roll_link.STL356 kBDownload assets/left_wrist_roll_link.STL
left_wrist_yaw_link.STL319 kBDownload assets/left_wrist_yaw_link.STL
logo_link.STL243 kBDownload assets/logo_link.STL
pelvis.STL1.1 MBDownload assets/pelvis.STL
pelvis_contour_link.STL1.8 MBDownload assets/pelvis_contour_link.STL
right_ankle_pitch_link.STL71.2 kBDownload assets/right_ankle_pitch_link.STL
right_ankle_roll_link.STL654 kBDownload assets/right_ankle_roll_link.STL
right_elbow_link.STL88.8 kBDownload assets/right_elbow_link.STL
right_hand_index_0_link.STL476 kBDownload assets/right_hand_index_0_link.STL
right_hand_index_1_link.STL1.5 MBDownload assets/right_hand_index_1_link.STL
right_hand_middle_0_link.STL476 kBDownload assets/right_hand_middle_0_link.STL
right_hand_middle_1_link.STL1.5 MBDownload assets/right_hand_middle_1_link.STL
right_hand_palm_link.STL2.1 MBDownload assets/right_hand_palm_link.STL
right_hand_thumb_0_link.STL8.9 kBDownload assets/right_hand_thumb_0_link.STL
right_hand_thumb_1_link.STL476 kBDownload assets/right_hand_thumb_1_link.STL
right_hand_thumb_2_link.STL1.5 MBDownload assets/right_hand_thumb_2_link.STL
right_hip_pitch_link.STL181 kBDownload assets/right_hip_pitch_link.STL
right_hip_roll_link.STL193 kBDownload assets/right_hip_roll_link.STL
right_hip_yaw_link.STL296 kBDownload assets/right_hip_yaw_link.STL
right_knee_link.STL852 kBDownload assets/right_knee_link.STL
right_rubber_hand.STL2.2 MBDownload assets/right_rubber_hand.STL
right_shoulder_pitch_link.STL177 kBDownload assets/right_shoulder_pitch_link.STL
right_shoulder_roll_link.STL402 kBDownload assets/right_shoulder_roll_link.STL
right_shoulder_yaw_link.STL250 kBDownload assets/right_shoulder_yaw_link.STL
right_wrist_pitch_link.STL79.6 kBDownload assets/right_wrist_pitch_link.STL
right_wrist_roll_link.STL356 kBDownload assets/right_wrist_roll_link.STL
right_wrist_yaw_link.STL341 kBDownload assets/right_wrist_yaw_link.STL
torso_link_rev_1_0.STL2.6 MBDownload assets/torso_link_rev_1_0.STL
waist_roll_link_rev_1_0.STL85.9 kBDownload assets/waist_roll_link_rev_1_0.STL
waist_yaw_link_rev_1_0.STL620 kBDownload assets/waist_yaw_link_rev_1_0.STL