leprechaun_g1

Correll Lab's Unitree G1 humanoid platform: hardware reference for our G1 and Dex3-1 dexterous hands. University of Notre Dame.

Layout

assets/     URDF and MuJoCo models for the G1 29 DoF and the Dex3-1 hands
docs/       bring-up notes and our unit's details
tools/      read the robot's state

Quick start

See assets/README.md for the Dex3-1 joint order and mirroring, and the two loader gotchas worth knowing before you start.

To connect to the robot and read its state, see docs/bringup.md.

Open hardware questions

These are unknowns about our specific unit, not about the models. They gate anything torque-enabled:

• Ankle and waist roll/pitch torque limits. Unitree's URDF says 35 Nm, its MJCF 50 Nm; see assets/README.md.
• Whether the Dex3-1 thumb_0 joint mirrors between hands. The other six joints demonstrably do; thumb_0 has a symmetric range, so the model cannot say.
• Quaternion convention (w-first or w-last) in whatever observation builder we deploy. A wrong sense of "down" is painful to debug from a fall video.

License

Our code and documentation are MIT, see LICENSE. The vendored robot descriptions under assets/ are Unitree's, BSD 3-Clause, see assets/LICENSE.unitree_ros.