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Rooholla-KhorramBakht b6bdcda7e3 D1 arm assets added and ocp example updated. 2024-12-03 11:06:54 -05:00
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LICENSE Isaacsim and Mujoco simulator classes are added. 2024-02-20 22:27:08 -05:00
README.md Isaacsim and Mujoco simulator classes are added. 2024-02-20 22:27:08 -05:00
d1_arm.xml D1 arm assets added and ocp example updated. 2024-12-03 11:06:54 -05:00
go2.png documentation images are added 2024-06-04 22:14:46 -05:00
go2.xml D1 arm assets added and ocp example updated. 2024-12-03 11:06:54 -05:00
go2_backup.xml Many modifs. 2024-11-04 22:27:32 +00:00
go2_with_arm.xml D1 arm assets added and ocp example updated. 2024-12-03 11:06:54 -05:00
scene.xml Isaacsim and Mujoco simulator classes are added. 2024-02-20 22:27:08 -05:00

README.md

Unitree Go2 Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the Go2 Quadruped Robot developed by Unitree Robotics. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

  1. Converted the DAE mesh files to OBJ format using Blender.
  • When exporting, ensure "up axis" is +Z, and "forward axis" is +Y.
  1. Processed .obj files with obj2mjcf.
  2. Added <mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
  3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
  4. Added a <freejoint/> to the base.
  5. Manually edited the MJCF to extract common properties into the <default> section.
  6. Softened the contacts of the feet to approximate the effect of rubber and increased impratio to reduce slippage.
  7. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under a BSD-3-Clause License.