Unitree Go1

Unitree Go1#

UnitreeGo1Cfg configures the bundled 12-joint Unitree Go1 quadruped, including its floating base, standing pose and simulation PD drive defaults.

Unitree Go1 robot

Unitree Go1 in the default joint pose

Usage#

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain_robots import UnitreeGo1Cfg

sim = SimulationManager(SimulationManagerCfg(headless=True, num_envs=1))
cfg = UnitreeGo1Cfg.from_dict({})
robot = sim.add_robot(cfg=cfg)

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

embodichain preview-robot --robot UnitreeGo1

Robot Configuration#

Item

Default

Catalog ID / UID

UnitreeGo1

Configuration class

UnitreeGo1Cfg

Canonical module

embodichain_robots.unitree.go1

Vendor

unitree

Morphology

quadruped

Arm count

0

Asset

UnitreeGo1Locomotion/go1.usda

Control parts

locomotion: 12 joints

Base

Floating

Initial root height

0.278 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#

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