Kyry10/unitree-g1-usd

Unitree G1 USD (SONIC model) for Isaac Lab 2.x

A ready-to-load USD of the Unitree G1 humanoid (29 DoF + 3-finger hands, 51 bodies), exactly as NVIDIA's SONIC / GR00T-WholeBodyControl uses it. It was converted from SONIC's main.urdf with SONIC's own converter settings, using Isaac Lab 2.3.2 / Isaac Sim 5.1 (UrdfConverter).

Why: converting URDF → USD at launch fails on some compute-only GPU servers (for example H100 servers with headless driver packages). Loading this USD with sim_utils.UsdFileCfg skips the conversion. Guide: https://github.com/Kyk0/isaaclab-h100.

Files

File
g1_sonic_usd.zip	g1_sonic/ directory: g1_sonic.usd + configuration/ + config.yaml (converter settings) + license files
g1_sonic_usd.zip.sha256	e4084104e4936a6cafa3d33e98ecadcc0473fb643c9e9819a6c6964917fedfa0
LICENSE-NOTICE.md, LICENSE-Apache-2.0.txt	Licenses of the sources (also inside the zip)

Use

# from the guide repo (downloads, checks sha256, unpacks into usd/g1_sonic/)
bash scripts/download_usd.sh
python scripts/convert_robot.py --verify usd/g1_sonic/g1_sonic.usd --base_height 0.76

spawn=sim_utils.UsdFileCfg(
    usd_path="usd/g1_sonic/g1_sonic.usd",   # keep the whole g1_sonic/ directory together
    activate_contact_sensors=True,
    rigid_props=...,          # same as your UrdfFileCfg had
    articulation_props=...,   # same as your UrdfFileCfg had
)

Tested: loads and simulates on a Quadro RTX 6000 (CUDA physics) and on an H100 NVL host with the compute-only driver (CPU physics), with Isaac Lab 2.3.2 / Isaac Sim 5.1.

Provenance and license

• Meshes: all 49 STL files used are byte-identical (sha256, checked 2026-10-20) to Unitree's unitree_ros robots/g1_description/meshes. BSD 3-Clause, © Unitree Robotics.
• URDF: Unitree's G1 29-DoF description (same masses and inertias), edited by BeyondMimic (MIT) and shipped in SONIC (Apache 2.0).
• Only the format was changed (URDF → USD). Full texts are in LICENSE-NOTICE.md. Not affiliated with or endorsed by Unitree or NVIDIA.