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
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diff --git a/unitree_go2/assets/base_2.obj b/unitree_go2/assets/base_2.obj
new file mode 100644
index 00000000..bc661591
--- /dev/null
+++ b/unitree_go2/assets/base_2.obj
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