MuJoCo Menagerie adds an mjlab variant of the Unitree G1 model

SUMMARY

A commit by btaba to Google DeepMind's mujoco_menagerie repository on GitHub adds a new file, g1_mjlab.xml, to the unitree_g1 model directory. The commit is titled "Add g1_mjlab.xml to unitree_g1 (#343)" and touches two files: the new model file and the directory's changelog.

The changelog entry describes the file as an mjlab variant of the G1 model. It says the variant is derived from g1_mjx.xml, another model file named in the same changelog.

The entry lists what differs from g1_mjx.xml. The variant uses capsule colliders on the feet and has active self-collisions. Its actuators and solver options have been removed, for programmatic specification.

The changelog dates the entry 2026-10-19. The commit adds 320 lines in total, according to the page.

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