Unitree Go2
Unitree Go2 is a quadruped, made by Unitree Robotics. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. The licence text is in LICENSE.
Not made by Lucen Robotics. Listed as a reference model for simulation.
The source's own README is kept unchanged as SOURCE_README.md.
How it was set up
The files come from unitree_go2 in MuJoCo Menagerie, at commit 822c2d8.
The robot card was drafted from the model by lucen robot init, as in Add your robot.
The model file does not state the values below. Each one comes from the source beside it.
| Setting | Value | Where it comes from |
|---|---|---|
| Control rate | 50 Hz | unitree_rl_gym go2_config.py: decimation 4 x sim dt 0.005 s (legged_robot_config.py) |
| Action | offset from the default pose | legged_gym's action: default joint angle + action_scale x action |
| Action scale | 0.25 | unitree_rl_gym go2_config.py action_scale = 0.25 |
| Stiffness (kp) | 20 | unitree_rl_gym go2_config.py stiffness = {'joint': 20.} (Menagerie's go2.xml has torque motors, which state no gains) (a starting point) |
| Damping (kd) | 0.5 | unitree_rl_gym go2_config.py damping = {'joint': 0.5} (a starting point) |
| What a policy senses | joint positions, joint velocities, base angular velocity, gravity direction | the Go2's joint encoders and IMU |
| Command | forward, sideways and turning speed | legged_gym's commands: lin_vel_x, lin_vel_y, ang_vel_yaw |
| Everything else | read from the model file | joint order, the home keyframe as the default pose and base height, joint ranges, torque limits, armature and friction from go2.xml. |
A value marked as a starting point is not the maker's own. The checks on the robot page show how it behaves.
The configs cited above, at the commits read:
- legged_gym: legged_gym, commit
8fa29ac. - unitree_rl_gym: unitree_rl_gym, commit
276801e.
No file from the source was changed. This README, the robot card and the robot's pictures are new.