Unitree's G1 description files gain a 31-DoF G1+ model with a pitch-and-yaw neck

SUMMARY

Unitree has reworked the G1 robot descriptions in its unitree_ros repository during week 40 of 2026. The latest commit, titled "update G1+", renames the G1+ model from g1_plus to g1_pl: the URDF file becomes g1_pl.urdf, the robot name inside it follows, and the README table and G1+ section use the new name. The commit touches 2 files, with 4 lines added and 4 removed.

The README describes g1_pl.urdf as an extension of the g1_29dof_mode_18 model that swaps in a G1+ upper body dated 2026-09-23. The result has 31 degrees of freedom: 12 in the legs, 3 in the waist, 14 in the arms and 2 in the neck. The head moves on separate neck pitch and neck yaw joints, and the model adds revised torso and head meshes, a handle on the torso, and camera and lidar reference frames fixed to the head link.

Joint limits change as well. The G1+ model takes its effort and velocity limits from the repository's motor information file; in it, the ankle pitch and roll effort limit rises from 41 to 61.5 N·m and the waist roll and pitch limit from 60 to 90 N·m, while velocity limits stay the same. The other commits grouped in this week's change set add the updated 2-DoF head model and the G1+ model itself, update its motor information and documentation, and revise the G1+ hip motor mapping.

Drafted with AI assistance from the source and reviewed by WBH. Follow the source link for the full text.