Unitree G1 (29 DOF)

29-DOF G1 humanoid description from Unitree.

HumanoidsURDFSource models

Inspect this model in 3D

Rotate the robot, move its joints and inspect collision geometry. The preview fetches model resources directly from the pinned upstream revision.

Visualization checks geometry and joint motion. It does not run a physics simulation.

Before you use this model

Check the exact hardware revision and simulator integration. This file alone does not include a tested controller.

Vendor descriptions for quadrupeds, humanoids and hands. Files are model assets; the repository name does not establish ROS 2 or simulator compatibility.

Get the source package

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Download upstream ZIP

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Open model sourceRepository & documentation
Maintainer / source
unitreerobotics/unitree_ros
Branch at check
master
Model path
robots/g1_description/g1_29dof.urdf
Revision
deeb607f3a89
License context
BSD-3-Clause reported at repository level; inspect asset-specific terms
Source checked
2026-10-28 · path and resources, not simulator behavior

From source to your workspace

  1. 1. Get the complete package

    Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.

  2. 2. Resolve the description

    Keep the URDF together with its mesh files. Check package:// paths and preserve the original directory structure.

  3. 3. Inspect before simulation

    Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.

    Check your URDF

More humanoids

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