LuckyWorld/SourceFiles/mujoco_menagerie-main/unitree_z1

Unitree Z1 description (MJCF)

Requires MuJoCo 2.3.3 or later.

Overview

This package contains a simplified robot description (MJCF) of the Z1 manipulator developed by Unitree Robotics. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Added <mujoco><compiler discardvisual="false" fusestatic="false"/></mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
3. Manually edited the MJCF to extract common properties into the <default> section.
4. Added position-control actuators.
5. 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.