Unitree Go1 Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the Go1 Quadruped Robot developed by Unitree Robotics. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Manually edited the MJCF to extract common properties into the <default> section.
2. Manually designed collision geometries.
3. Softened the contacts of the feet to approximate the effect of rubber and increased impratio to reduce slippage.
4. 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.