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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.