Gepetto · nim65s · Jan 21, 2026 · Jan 20, 2026 · Jan 20, 2026 · Jan 21, 2026
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
@@ -122,6 +122,22 @@ class A1Loader(RobotLoader):
     free_flyer = True
 
 
+class G1Loader(RobotLoader):
+    path = "g1_description"
+    urdf_subpath = "urdf"
+    urdf_filename = "g1_29dof_rev_1_0.urdf"
+    ref_posture = "standing"
+    free_flyer = True
+
+
+class G1WithHandsLoader(G1Loader):
+    path = "g1_description"
+    urdf_subpath = "urdf"
+    urdf_filename = "g1_29dof_with_hand_rev_1_0.urdf"
+    ref_posture = "standing"
+    free_flyer = True
+
+
 class Z1Loader(RobotLoader):
     path = "z1_description"
     urdf_filename = "z1.urdf"
@@ -478,6 +494,8 @@ class xArm7Loader(RobotLoader):
     "go1": Go1Loader,
     "go2": Go2Loader,
     "a1": A1Loader,
+    "g1": G1Loader,
+    "g1_with_hands": G1WithHandsLoader,
     "z1": Z1Loader,
     "b1_z1": B1Z1Loader,
     "anymal": ANYmalLoader,

diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md
@@ -0,0 +1,9 @@
+# Unitree G1 Description
+
+upstream: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description
+license: BSD 3-Clause License
+
+Modifications:
+- limited the loader registry to just the core `G1Loader`/`G1WithHandsLoader`, added `ref_posture="standing"` and re-enabled `free_flyer` so Pinocchio/Crocoddyl builds have sensible defaults.
+- pruned the mesh directory down to only the files actually referenced by those two URDFs and removed the unused `inspire_hand` folder.
+- dropped the `<mujoco>` blocks that only applied to MuJoCo so the URDFs stay focused on URDF/Pinocchio usage.
diff --git a/robots/g1_description/meshes/head_link.STL b/robots/g1_description/meshes/head_link.STL
diff --git a/robots/g1_description/meshes/left_ankle_pitch_link.STL b/robots/g1_description/meshes/left_ankle_pitch_link.STL
diff --git a/robots/g1_description/meshes/left_ankle_roll_link.STL b/robots/g1_description/meshes/left_ankle_roll_link.STL
diff --git a/robots/g1_description/meshes/left_elbow_link.STL b/robots/g1_description/meshes/left_elbow_link.STL
diff --git a/robots/g1_description/meshes/left_hand_index_0_link.STL b/robots/g1_description/meshes/left_hand_index_0_link.STL
diff --git a/robots/g1_description/meshes/left_hand_index_1_link.STL b/robots/g1_description/meshes/left_hand_index_1_link.STL
diff --git a/robots/g1_description/meshes/left_hand_middle_0_link.STL b/robots/g1_description/meshes/left_hand_middle_0_link.STL
diff --git a/robots/g1_description/meshes/left_hand_middle_1_link.STL b/robots/g1_description/meshes/left_hand_middle_1_link.STL
diff --git a/robots/g1_description/meshes/left_hand_palm_link.STL b/robots/g1_description/meshes/left_hand_palm_link.STL
diff --git a/robots/g1_description/meshes/left_hand_thumb_0_link.STL b/robots/g1_description/meshes/left_hand_thumb_0_link.STL
diff --git a/robots/g1_description/meshes/left_hand_thumb_1_link.STL b/robots/g1_description/meshes/left_hand_thumb_1_link.STL
diff --git a/robots/g1_description/meshes/left_hand_thumb_2_link.STL b/robots/g1_description/meshes/left_hand_thumb_2_link.STL
diff --git a/robots/g1_description/meshes/left_hip_pitch_link.STL b/robots/g1_description/meshes/left_hip_pitch_link.STL
diff --git a/robots/g1_description/meshes/left_hip_roll_link.STL b/robots/g1_description/meshes/left_hip_roll_link.STL
diff --git a/robots/g1_description/meshes/left_hip_yaw_link.STL b/robots/g1_description/meshes/left_hip_yaw_link.STL
diff --git a/robots/g1_description/meshes/left_knee_link.STL b/robots/g1_description/meshes/left_knee_link.STL
diff --git a/robots/g1_description/meshes/left_rubber_hand.STL b/robots/g1_description/meshes/left_rubber_hand.STL
diff --git a/robots/g1_description/meshes/left_shoulder_pitch_link.STL b/robots/g1_description/meshes/left_shoulder_pitch_link.STL
diff --git a/robots/g1_description/meshes/left_shoulder_roll_link.STL b/robots/g1_description/meshes/left_shoulder_roll_link.STL
diff --git a/robots/g1_description/meshes/left_shoulder_yaw_link.STL b/robots/g1_description/meshes/left_shoulder_yaw_link.STL
diff --git a/robots/g1_description/meshes/left_wrist_pitch_link.STL b/robots/g1_description/meshes/left_wrist_pitch_link.STL
diff --git a/robots/g1_description/meshes/left_wrist_roll_link.STL b/robots/g1_description/meshes/left_wrist_roll_link.STL
diff --git a/robots/g1_description/meshes/left_wrist_yaw_link.STL b/robots/g1_description/meshes/left_wrist_yaw_link.STL
diff --git a/robots/g1_description/meshes/logo_link.STL b/robots/g1_description/meshes/logo_link.STL
diff --git a/robots/g1_description/meshes/pelvis.STL b/robots/g1_description/meshes/pelvis.STL
diff --git a/robots/g1_description/meshes/pelvis_contour_link.STL b/robots/g1_description/meshes/pelvis_contour_link.STL
diff --git a/robots/g1_description/meshes/right_ankle_pitch_link.STL b/robots/g1_description/meshes/right_ankle_pitch_link.STL
diff --git a/robots/g1_description/meshes/right_ankle_roll_link.STL b/robots/g1_description/meshes/right_ankle_roll_link.STL
diff --git a/robots/g1_description/meshes/right_elbow_link.STL b/robots/g1_description/meshes/right_elbow_link.STL
diff --git a/robots/g1_description/meshes/right_hand_index_0_link.STL b/robots/g1_description/meshes/right_hand_index_0_link.STL
diff --git a/robots/g1_description/meshes/right_hand_index_1_link.STL b/robots/g1_description/meshes/right_hand_index_1_link.STL
diff --git a/robots/g1_description/meshes/right_hand_middle_0_link.STL b/robots/g1_description/meshes/right_hand_middle_0_link.STL
diff --git a/robots/g1_description/meshes/right_hand_middle_1_link.STL b/robots/g1_description/meshes/right_hand_middle_1_link.STL
diff --git a/robots/g1_description/meshes/right_hand_palm_link.STL b/robots/g1_description/meshes/right_hand_palm_link.STL
diff --git a/robots/g1_description/meshes/right_hand_thumb_0_link.STL b/robots/g1_description/meshes/right_hand_thumb_0_link.STL
diff --git a/robots/g1_description/meshes/right_hand_thumb_1_link.STL b/robots/g1_description/meshes/right_hand_thumb_1_link.STL
diff --git a/robots/g1_description/meshes/right_hand_thumb_2_link.STL b/robots/g1_description/meshes/right_hand_thumb_2_link.STL
diff --git a/robots/g1_description/meshes/right_hip_pitch_link.STL b/robots/g1_description/meshes/right_hip_pitch_link.STL
diff --git a/robots/g1_description/meshes/right_hip_roll_link.STL b/robots/g1_description/meshes/right_hip_roll_link.STL
diff --git a/robots/g1_description/meshes/right_hip_yaw_link.STL b/robots/g1_description/meshes/right_hip_yaw_link.STL
diff --git a/robots/g1_description/meshes/right_knee_link.STL b/robots/g1_description/meshes/right_knee_link.STL
diff --git a/robots/g1_description/meshes/right_rubber_hand.STL b/robots/g1_description/meshes/right_rubber_hand.STL
diff --git a/robots/g1_description/meshes/right_shoulder_pitch_link.STL b/robots/g1_description/meshes/right_shoulder_pitch_link.STL
diff --git a/robots/g1_description/meshes/right_shoulder_roll_link.STL b/robots/g1_description/meshes/right_shoulder_roll_link.STL
diff --git a/robots/g1_description/meshes/right_shoulder_yaw_link.STL b/robots/g1_description/meshes/right_shoulder_yaw_link.STL
diff --git a/robots/g1_description/meshes/right_wrist_pitch_link.STL b/robots/g1_description/meshes/right_wrist_pitch_link.STL
diff --git a/robots/g1_description/meshes/right_wrist_roll_link.STL b/robots/g1_description/meshes/right_wrist_roll_link.STL
diff --git a/robots/g1_description/meshes/right_wrist_yaw_link.STL b/robots/g1_description/meshes/right_wrist_yaw_link.STL
diff --git a/robots/g1_description/meshes/torso_link_rev_1_0.STL b/robots/g1_description/meshes/torso_link_rev_1_0.STL
diff --git a/robots/g1_description/meshes/waist_roll_link_rev_1_0.STL b/robots/g1_description/meshes/waist_roll_link_rev_1_0.STL
diff --git a/robots/g1_description/meshes/waist_yaw_link_rev_1_0.STL b/robots/g1_description/meshes/waist_yaw_link_rev_1_0.STL