Go2 description

This repo contains description files (urdf/srdf/...), and simple python loaders (for pinocchio model) for the Unitree Go2 and G1 robots, calibrated to INRIA Paris instances of the robot.

The urdf are taken from Unitree repo https://github.com/unitreerobotics/unitree_ros and then modified/adapted for our needs.

Note: Out of all the urdf provided for the unitree G1 in this table, our robots correspond to the one with :

• 29 DoF, machine mode 5 or 6 (depending if the waist roll pitch is free or locked)
• {14.3, 22.5} hip.{roll, pitch} gear ratio
• 4010 wrist motors
• with_hand or without depending if the dexterous hands are mounted or

Python example with Pinocchio

# import pinocchio
from unitree_description.loader import loadG1

pinocchio_robot_wrapper = loadG1()