g1_mj_description

This repository contains the G1 robot model for mc_mujoco.

The package will install the files in this directory so that mc_mujoco can pick them up automatically.

Please note that G1_23dof (default) and G1_29dof variants are supported.

Requirement

Please make sure mc_mujoco is installed.

Install

From source

In order to install from source please run the following commands:

git clone https://github.com/isri-aist/g1_mj_description
cd g1_mj_description
mkdir build && cd build
cmake ..
make install

To run

Your mc_rtc configuration file (typically ~/.config/mc_rtc/mc_rtc.yaml) should contain the following lines:

# General mc_rtc configuration to run a G1 controller
MainRobot: G1  # Or G1_23dof, G1_29dof (G1 defaults to 23-DOF variant)
Enabled: Posture  # Edit with your controller
Timestep: 0.001

Then run mc_mujoco:

mc_mujoco

CMake options

• SRC_MODE if ON the files loaded by mujoco will point to the source rather than the installed files (default OFF)

Supported models

• g1_23dof: G1 robot with 23 degrees of freedom (base configuration)
• g1_29dof: G1 robot with 29 degrees of freedom (includes additional waist and wrist joints)