Add Unitree Go2 quadruped. Resolves #29.

PiperOrigin-RevId: 576172175 Change-Id: I201858fff037d064812ea202885487aea8648c63
google-deepmind · Oct 24, 2023 · 2ffe3e3 · 2ffe3e3
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diff --git a/LICENSE b/LICENSE
@@ -2144,6 +2144,39 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
+================================================================================
+License for contents in the directory 'unitree_go2/'
+================================================================================
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
 ================================================================================
 License for contents in the directory 'universal_robots_ur10e/'
 ================================================================================

diff --git a/README.md b/README.md
@@ -155,6 +155,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | [ANYmal C](anybotics_anymal_c/README.md)|[<img src="anybotics_anymal_c/anymal_c.png" width="400">](anybotics_anymal_c/README.md)|B|
 | [Unitree A1](unitree_a1/README.md)|[<img src="unitree_a1/a1.png" width="400">](unitree_a1/README.md)|B|
 | [Unitree Go1](unitree_go1/README.md)|[<img src="unitree_go1/go1.png" width="400">](unitree_go1/README.md)|B|
+| [Unitree Go2](unitree_go2/README.md)|[<img src="unitree_go2/go2.png" width="400">](unitree_go2/README.md)|B|
 | [Google Barkour v0](google_barkour_v0/README.md)|[<img src="google_barkour_v0/barkour_v0.png" width="400">](google_barkour_v0/README.md)|A|
 | Arms               |              |         |
 | [Panda](franka_emika_panda/README.md)|[<img src="franka_emika_panda/panda.png" width="400">](franka_emika_panda/README.md)|B|

diff --git a/unitree_go2/LICENSE b/unitree_go2/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/unitree_go2/README.md b/unitree_go2/README.md
@@ -0,0 +1,35 @@
+# 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](https://www.unitree.com/products/go2/) developed by [Unitree
+Robotics](https://www.unitree.com/). It is derived from the [publicly available
+URDF
+description](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go2_description).
+
+<p float="left">
+  <img src="go2.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+   files](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/a1/meshes)
+to OBJ format using [Blender](https://www.blender.org/).
+  - When exporting, ensure "up axis" is `+Z`, and "forward axis" is `+Y`.
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Added a `<freejoint/>` to the base.
+6. Manually edited the MJCF to extract common properties into the `<default>` section.
+7. Softened the contacts of the feet to approximate the effect of rubber and
+   increased `impratio` to reduce slippage.
+8. 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](LICENSE).