diff --git a/LICENSE b/LICENSE index 0b3018ad..58feffdf 100644 --- 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 index 1be9bff7..7c9a9e4b 100644 --- a/README.md +++ b/README.md @@ -155,6 +155,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md). | [ANYmal C](anybotics_anymal_c/README.md)|[](anybotics_anymal_c/README.md)|B| | [Unitree A1](unitree_a1/README.md)|[](unitree_a1/README.md)|B| | [Unitree Go1](unitree_go1/README.md)|[](unitree_go1/README.md)|B| +| [Unitree Go2](unitree_go2/README.md)|[](unitree_go2/README.md)|B| | [Google Barkour v0](google_barkour_v0/README.md)|[](google_barkour_v0/README.md)|A| | Arms | | | | [Panda](franka_emika_panda/README.md)|[](franka_emika_panda/README.md)|B| diff --git a/unitree_go2/LICENSE b/unitree_go2/LICENSE new file mode 100644 index 00000000..b646a94d --- /dev/null +++ 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 new file mode 100644 index 00000000..c566d00a --- /dev/null +++ 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). + +

+ +

+ +## 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 ` ` to the URDF's + `` clause in order to preserve visual geometries. +4. Loaded the URDF into MuJoCo and saved a corresponding MJCF. +5. Added a `` to the base. +6. Manually edited the MJCF to extract common properties into the `` 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). diff --git a/unitree_go2/assets/base_0.obj b/unitree_go2/assets/base_0.obj new file mode 100644 index 00000000..f2e68823 --- /dev/null +++ b/unitree_go2/assets/base_0.obj @@ -0,0 +1,36346 @@ +mtllib 深色橡胶.001.mtl +usemtl 深色橡胶.001 +v 0.28651000 0.03397800 -0.06016600 +v 0.28140700 0.03271000 -0.06153300 +v 0.28510200 0.03416200 -0.05502200 +v 0.29174300 0.03440500 -0.05876400 +v 0.29174300 0.03440500 -0.05876400 +v 0.28791900 0.03379400 -0.06531000 +v 0.28791900 0.03379400 -0.06531000 +v 0.29052700 0.03411300 -0.06461100 +v 0.29052700 0.03411300 -0.06461100 +v 0.28539800 0.03327700 -0.06598500 +v 0.28539800 0.03327700 -0.06598500 +v 0.28676900 0.03288900 -0.07074100 +v 0.28284300 0.03253300 -0.06667000 +v 0.28284300 0.03253300 -0.06667000 +v 0.28045700 0.03162400 -0.06730900 +v 0.28045700 0.03162400 -0.06730900 +v 0.27802000 0.03046400 -0.06796200 +v 0.27802000 0.03046400 -0.06796200 +v 0.28188500 0.03125600 -0.07205000 +v 0.28347400 0.03043800 -0.07668000 +v 0.27750800 0.02898500 -0.07322200 +v 0.27750800 0.02898500 -0.07322200 +v 0.27798600 0.02895900 -0.07412400 +v 0.27798600 0.02895900 -0.07412400 +v 0.27732500 0.02899900 -0.07283600 +v 0.27732500 0.02899900 -0.07283600 +v 0.27699700 0.02874300 -0.07297500 +v 0.27678100 0.02906700 -0.07149800 +v 0.27678100 0.02906700 -0.07149800 +v 0.27653300 0.02911900 -0.07073700 +v 0.27653300 0.02911900 -0.07073700 +v 0.27644000 0.02881200 -0.07160400 +v 0.27551600 0.02896300 -0.06864100 +v 0.27551600 0.02896300 -0.06864100 +v 0.27613800 0.02850800 -0.07169400 +v 0.27588000 0.02816300 -0.07176600 +v 0.27670700 0.02844000 -0.07309400 +v 0.27521200 0.02865900 -0.06872700 +v 0.27521200 0.02865900 -0.06872700 +v 0.27521300 0.02866000 -0.06872700 +v 0.27521300 0.02866000 -0.06872700 +v 0.27495400 0.02831300 -0.06879900 +v 0.27495400 0.02831300 -0.06879900 +v 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