{
  "id": "mujoco-menagerie-artifact-unitree-g1-g1-xml",
  "name": "MuJoCo Menagerie: unitree g1/g1.xml",
  "summary": "Official pinned robot model text for unitree g1/g1.xml. Inspect the upstream package and adjacent assets before use.",
  "framework": "mujoco-menagerie",
  "kind": "official_example",
  "source_registry": "official-robot-artifacts-v1",
  "artifact": {
    "kind": "robot_model",
    "format": "mjcf",
    "role": "Source/configuration reference; not an executable Hub skill",
    "structure": {
      "root": "mujoco",
      "references": [
        "assets",
        "head_link.STL",
        "left_ankle_pitch_link.STL",
        "left_ankle_roll_link.STL",
        "left_elbow_link.STL",
        "left_hip_pitch_link.STL",
        "left_hip_roll_link.STL",
        "left_hip_yaw_link.STL",
        "left_knee_link.STL",
        "left_rubber_hand.STL",
        "left_shoulder_pitch_link.STL",
        "left_shoulder_roll_link.STL",
        "left_shoulder_yaw_link.STL",
        "left_wrist_pitch_link.STL",
        "left_wrist_roll_link.STL",
        "left_wrist_yaw_link.STL",
        "logo_link.STL",
        "pelvis.STL",
        "pelvis_contour_link.STL",
        "right_ankle_pitch_link.STL",
        "right_ankle_roll_link.STL",
        "right_elbow_link.STL",
        "right_hip_pitch_link.STL",
        "right_hip_roll_link.STL",
        "right_hip_yaw_link.STL",
        "right_knee_link.STL",
        "right_rubber_hand.STL",
        "right_shoulder_pitch_link.STL",
        "right_shoulder_roll_link.STL",
        "right_shoulder_yaw_link.STL",
        "right_wrist_pitch_link.STL",
        "right_wrist_roll_link.STL",
        "right_wrist_yaw_link.STL",
        "torso_link_rev_1_0.STL",
        "waist_roll_link_rev_1_0.STL",
        "waist_yaw_link_rev_1_0.STL"
      ],
      "references_truncated": false
    }
  },
  "capabilities": [
    "mjcf",
    "robot-model",
    "simulation"
  ],
  "robot_types": [
    "humanoid"
  ],
  "robot_scope": "Labels identify this description/configuration source; they do not establish runtime, controller or physical-robot compatibility.",
  "source": {
    "repository": "https://github.com/google-deepmind/mujoco_menagerie",
    "commit": "62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35",
    "tag": "main",
    "path": "unitree_g1/g1.xml",
    "url": "https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/unitree_g1/g1.xml",
    "raw_url": "https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/unitree_g1/g1.xml",
    "sha256": "3c2616550a31f33e84d3c80b8e913ac5618c8888019b0c9490dae93493e647f3",
    "bytes": 23446
  },
  "license": {
    "spdx": "BSD-3-Clause",
    "url": "https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/unitree_g1/LICENSE",
    "sha256": "98335465f43a20b5850e4651db6e74c4aa1e9fc8e8813d38f345178045c0da50",
    "scope": "Model/scene description text in this model directory only. Preserve this model-specific license and upstream notices. Included models, meshes, textures, dependencies and trademarks retain their applicable rights; this index does not redistribute them."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.",
    "setup_url": "https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/unitree_g1/README.md"
  },
  "requirements": {
    "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
    "packages": [
      "MuJoCo version specified by the pinned model README",
      "Adjacent upstream meshes and included XML definitions"
    ],
    "display": "Model XML often references adjacent meshes or other model XML. Viewer/rendering and MuJoCo/MJX version requirements are model-specific; this index does not fetch those assets or load a model.",
    "execution_domain": "simulation",
    "source_imports": []
  },
  "invocation": {
    "entrypoint": "Data/configuration artifact: unitree_g1/g1.xml; use its upstream loader or package integration after inspection",
    "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 4209,
    "checked_at": "2026-10-18",
    "meaning": "Dated repository interest, not artifact use or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-18",
    "inspection": "Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.",
    "inspection_method": "automated_static",
    "artifact_kind": "robot_model"
  },
  "robots": [
    "unitree-g1"
  ]
}