This repository contains original project code plus files adapted from upstream open-source robotics projects. The repository's original code is licensed under Apache-2.0. Third-party files retain their original notices and license terms.
Some environment, MJX, and training structure is derived from DeepMind MuJoCo Playground and related MuJoCo examples.
- Source: https://github.com/google-deepmind/mujoco_playground
- License: Apache License, Version 2.0
- Copyright notices are retained in source files where present.
The vendored Unitree Go1 MJCF scene files, meshes, and related robot assets under
go1_ppo/scene/ and go1_ppo/assets/ are adapted from the MuJoCo Menagerie
unitree_go1/ model.
- Source: https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go1
- License: BSD 3-Clause
- 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.
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