Humanoid Shadow G1

A MuJoCo full-body humanoid robot model created by merging the Unitree G1 base with the Shadow Dexterous Hands. The goal is to provide a clean, reusable model in the style of the MuJoCo Menagerie, suitable for control, simulation, and robotics research.

This robot will also be directly integrated into the fullbody_robopianist project (public version coming soon), where it enables full‑body humanoid piano performance.

For more context on the fullbody_robopianist system and a brief description of the humanoid_shadow_g1 construction, see pages 18-19 of this thesis.

Overview

• Unitree G1 + Shadow Hands merged into a single MJCF model
• Menagerie‑style structure for consistency and reuse
• Suitable for RL, control, and dexterous manipulation tasks
• Forms the core robot model used in fullbody_robopianist

Prerequisites

pip install mujoco

Optional: Integrate Into Existing MuJoCo Menagerie

If you already use DeepMind’s MuJoCo Menagerie locally and prefer to keep all robot assets in one place, you may clone this project as an add-on inside your mujoco_menagerie folder instead of storing it elsewhere.

This is purely optional — the model works from any location.

Usage

First, clone the repository:

git clone https://github.com/darth-alexus/humanoid_shadow_g1.git

Then, to test the robot in MuJoCo, run:

python -m mujoco.viewer --mjcf humanoid_shadow_g1/scene.xml

Citing Humanoid Shadow G1

If you use the Humanoid Shadow G1 model in your work, please cite it as follows:

@mastersthesis{neuhauser2025thesis,
  author       = {Neuhauser, Alexander},
  title        = {Difficulty Estimation and Robotic Piano Performance via Reinforcement Learning},
  school       = {Johannes Kepler University Linz},
  year         = {2025},
  type         = {Master's thesis},
  address      = {Linz, Austria},
  note         = {Available at \url{https://epub.jku.at/obvulihs/download/pdf/12742599}},
}

Note: The original Unitree G1 and Shadow Dexterous Hand models are by Unitree Robotics and Shadow Robot Company, respectively, and this repository is built on top of the MuJoCo Menagerie framework. Citation of the thesis is for the integrated Humanoid Shadow G1 model and its use in the fullbody_robopianist system, not for the original components.

Acknowledgements

• Zakka, Kevin and Tassa, Yuval and MuJoCo Menagerie Contributors
• Unitree Robotics
• Shadow Robot Company

License

This repository contains modified MuJoCo Menagerie models, including Unitree G1 by Unitree Robotics and Shadow Dexterous Hand by Shadow Robot Company components.

• Original licenses for the MuJoCo Menagerie, Unitree Robotics and Shadow Robot Models are included in the LICENSE file.
• All modifications, integrations, and merged models are released under Apache License 2.0.

This is not an officially supported Google product.