Unitree G1

Unitree G1#

UnitreeG1Cfg configures the bundled 29-joint Unitree G1 humanoid, including its floating base, standing pose and simulation PD drive defaults.

Unitree G1 robot

Unitree G1 in the default joint pose

Usage#

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain_robots import UnitreeG1Cfg

sim = SimulationManager(SimulationManagerCfg(headless=True, num_envs=1))
cfg = UnitreeG1Cfg.from_dict({})
robot = sim.add_robot(cfg=cfg)

The catalog ID is also accepted by the shared preview command:

embodichain preview-robot --robot UnitreeG1

Robot Configuration#

Item

Default

Catalog ID / UID

UnitreeG1

Configuration class

UnitreeG1Cfg

Canonical module

embodichain_robots.unitree.g1

Vendor

unitree

Morphology

bipedal_humanoid

Arm count

2

Asset

UnitreeG1Locomotion/g1.usda

Control parts

locomotion: 29 joints

Base

Floating

Initial root height

0.8 m

Physics backends

Default and Newton

Limb IK solvers

None; build_pk_chain=False

Standard RobotCfg overrides, including joint_drive_props, are accepted by from_dict. Locomotion tasks preserve these explicit overrides.

See Also#

Contents