# Changelog – Unitree G1 Description

All notable changes to this model will be documented in this file.

## [2026-10-19]

- Add `mjlab` variant [g1_mjlab.xml](g1_mjlab.xml) (derived from [g1_mjx.xml](g1_mjx.xml) with capsule foot colliders, active self-collisions, and actuators/solver options removed for programmatic specification).

## [2025-08-7]
- Update the right hip joint limit of [g1_mjx.xml](g1_mjx.xml) to match the real robot limits

## [2025-05-30]

- Add MJX variant of [g1.xml](g1.xml), with manually designed collision geoms and contact pairs.

<p float="left">
  <img src="g1_mjx_colliders.png" width="400">
</p>

## [2024-12-10]

- Use updated models from Unitree's official [repo](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description) (sha: c20ca8f1fe5e519474c6c8d10b1ce5c719dd7a65).
  - Model without hands: [g1_29dof_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_rev_1_0.xml)
  - Model with hands: [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.xml)

## [2024-05-20]

- Initial release.