├── .gitignore ├── LICENSE ├── README.md ├── README_zh.md ├── assets ├── g1.png ├── g1_native.png ├── go2.png ├── go2_native.png ├── img_pro_1.png ├── img_pro_1_zh.jpg ├── img_pro_2.jpg ├── img_pro_2_zh.jpg ├── img_pro_3.jpg ├── img_pro_3_zh.jpg └── lidar_rviz.png ├── examples ├── config │ ├── g1.rviz │ ├── go2.rviz │ ├── rviz2_config.rviz │ └── rviz_config.rviz ├── example_mjcf.py ├── example_native.py ├── example_string.py ├── example_taichi.py ├── lidar_vis_ros1_wrapper.py ├── lidar_vis_ros2.py ├── lidar_vis_ros2_wrapper.py ├── onnx │ ├── g1_policy.onnx │ └── go2_policy.onnx ├── test_speed.py ├── unitree_g1.py ├── unitree_g1_ros2.py ├── unitree_go2.py └── unitree_go2_ros2.py ├── models ├── demo.xml ├── eight.obj ├── scene.obj ├── scene.xml ├── scene_g1.xml ├── scene_go2.xml ├── scene_primitive.xml ├── unitree_g1 │ ├── assets │ │ ├── head_link.STL │ │ ├── left_ankle_pitch_link.STL │ │ ├── left_ankle_roll_link.STL │ │ ├── left_elbow_link.STL │ │ ├── left_hand_index_0_link.STL │ │ ├── left_hand_index_1_link.STL │ │ ├── left_hand_middle_0_link.STL │ │ ├── left_hand_middle_1_link.STL │ │ ├── left_hand_palm_link.STL │ │ ├── left_hand_thumb_0_link.STL │ │ ├── left_hand_thumb_1_link.STL │ │ ├── left_hand_thumb_2_link.STL │ │ ├── left_hip_pitch_link.STL │ │ ├── left_hip_roll_link.STL │ │ ├── left_hip_yaw_link.STL │ │ ├── left_knee_link.STL │ │ ├── left_rubber_hand.STL │ │ ├── left_shoulder_pitch_link.STL │ │ ├── left_shoulder_roll_link.STL │ │ ├── left_shoulder_yaw_link.STL │ │ ├── left_wrist_pitch_link.STL │ │ ├── left_wrist_roll_link.STL │ │ ├── left_wrist_yaw_link.STL │ │ ├── logo_link.STL │ │ ├── pelvis.STL │ │ ├── pelvis_contour_link.STL │ │ ├── right_ankle_pitch_link.STL │ │ ├── right_ankle_roll_link.STL │ │ ├── right_elbow_link.STL │ │ ├── right_hand_index_0_link.STL │ │ ├── right_hand_index_1_link.STL │ │ ├── right_hand_middle_0_link.STL │ │ ├── right_hand_middle_1_link.STL │ │ ├── right_hand_palm_link.STL │ │ ├── right_hand_thumb_0_link.STL │ │ ├── right_hand_thumb_1_link.STL │ │ ├── right_hand_thumb_2_link.STL │ │ ├── right_hip_pitch_link.STL │ │ ├── right_hip_roll_link.STL │ │ ├── right_hip_yaw_link.STL │ │ ├── right_knee_link.STL │ │ ├── right_rubber_hand.STL │ │ ├── right_shoulder_pitch_link.STL │ │ ├── right_shoulder_roll_link.STL │ │ ├── right_shoulder_yaw_link.STL │ │ ├── right_wrist_pitch_link.STL │ │ ├── right_wrist_roll_link.STL │ │ ├── right_wrist_yaw_link.STL │ │ ├── torso_link_rev_1_0.STL │ │ ├── waist_roll_link_rev_1_0.STL │ │ └── waist_yaw_link_rev_1_0.STL │ └── g1_mjx_feetonly.xml └── unitree_go2 │ ├── assets │ ├── base_0.obj │ ├── base_1.obj │ ├── base_2.obj │ ├── base_3.obj │ ├── base_4.obj │ ├── calf_0.obj │ ├── calf_1.obj │ ├── calf_mirror_0.obj │ ├── calf_mirror_1.obj │ ├── foot.obj │ ├── hip_0.obj │ ├── hip_1.obj │ ├── thigh_0.obj │ ├── thigh_1.obj │ ├── thigh_mirror_0.obj │ └── thigh_mirror_1.obj │ └── go2_mjx.xml ├── mujoco_lidar ├── __init__.py ├── core_cpu │ ├── __init__.py │ └── mjlidar_cpu.py ├── 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