Unitree G1 (29-DoF + Dex3 Hands)

53 links · 52 joints · 43 dof

MuJoCo WASM

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Summary

Robot name: g1_29dof_with_hand_rev_1_0
DOF: 43
Meshes uploaded: 49

Joints

pelvis_contour_jointfixed
left_hip_pitch_jointrevolute
left_hip_roll_jointrevolute
left_hip_yaw_jointrevolute
left_knee_jointrevolute
left_ankle_pitch_jointrevolute
left_ankle_roll_jointrevolute
right_hip_pitch_jointrevolute
right_hip_roll_jointrevolute
right_hip_yaw_jointrevolute
right_knee_jointrevolute
right_ankle_pitch_jointrevolute
right_ankle_roll_jointrevolute
waist_yaw_jointrevolute
waist_roll_jointrevolute
waist_pitch_jointrevolute
logo_jointfixed
head_jointfixed
imu_in_torso_jointfixed
imu_in_pelvis_jointfixed
d435_jointfixed
mid360_jointfixed
left_shoulder_pitch_jointrevolute
left_shoulder_roll_jointrevolute
left_shoulder_yaw_jointrevolute
left_elbow_jointrevolute
left_wrist_roll_jointrevolute
left_wrist_pitch_jointrevolute
left_wrist_yaw_jointrevolute
left_hand_palm_jointfixed
left_hand_thumb_0_jointrevolute
left_hand_thumb_1_jointrevolute
left_hand_thumb_2_jointrevolute
left_hand_middle_0_jointrevolute
left_hand_middle_1_jointrevolute
left_hand_index_0_jointrevolute
left_hand_index_1_jointrevolute
right_shoulder_pitch_jointrevolute
right_shoulder_roll_jointrevolute
right_shoulder_yaw_jointrevolute
right_elbow_jointrevolute
right_wrist_roll_jointrevolute
right_wrist_pitch_jointrevolute
right_wrist_yaw_jointrevolute
right_hand_palm_jointfixed
right_hand_thumb_0_jointrevolute
right_hand_thumb_1_jointrevolute
right_hand_thumb_2_jointrevolute
right_hand_middle_0_jointrevolute
right_hand_middle_1_jointrevolute
right_hand_index_0_jointrevolute
right_hand_index_1_jointrevolute