28 lines
918 B
Markdown
28 lines
918 B
Markdown
# Unitree Go1 Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [Go1
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Quadruped Robot](https://www.unitree.com/go1/) developed by [Unitree
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Robotics](https://www.unitree.com/). It is derived from the [publicly available
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URDF
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description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go1_description).
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<p float="left">
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<img src="go1.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Manually edited the MJCF to extract common properties into the `<default>` section.
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2. Manually designed collision geometries.
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3. Softened the contacts of the feet to approximate the effect of rubber and
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increased `impratio` to reduce slippage.
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4. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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## License
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This model is released under a [BSD-3-Clause License](LICENSE).
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