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+# Unitree Go1 Robot with Stairs
+
+## Overview
+This tutorial demonstrates setting up a 3D scene containing a Unitree Go1 quadruped robot positioned in front of a staircase, along with lighting and atmospheric effects.
+
+## Scene Components
+
+The visualization includes four main elements:
+
+1. **Unitree Go1 Robot** - A quadrupedal robot model loaded via URDF format
+2. **Stairway Mesh** - A textured 3D model of stairs
+3. **Fog Effect** - Atmospheric fog that darkens distant portions of the scene
+4. **Lighting** - An ambient light source plus two movable point lights
+
+## Complete Code Example
+
+```python
+import math
+import asyncio
+from vuer import Vuer
+from vuer.schemas import Scene, Urdf, Obj, AmbientLight, PointLight, Movable, Plane, Fog
+
+app = Vuer()
+
+@app.spawn(start=True)
+async def main(session):
+    # Setup scene with fog and lighting
+    session.set @ Scene(
+        # Add fog effect
+        Fog(
+            color="#000000",
+            near=1,
+            far=20,
+        ),
+
+        # Ground plane
+        Plane(
+            args=[100, 100],
+            position=[0, -0.01, 0],
+            rotation=[-1.57, 0, 0],
+            key="ground",
+        ),
+
+        # Staircase mesh
+        Obj(
+            src="/static/stairs/stairs.obj",
+            position=[2, 0, 0],
+            rotation=[0, 0, 0],
+            materialType="standard",
+            material={
+                "color": "#cccccc",
+                "roughness": 0.8,
+            },
+            key="stairs",
+        ),
+
+        # Ambient lighting
+        AmbientLight(intensity=1.0),
+
+        # Movable point lights
+        Movable(
+            PointLight(
+                intensity=3.0,
+                position=[2, 3, 2],
+                key="light-1",
+            )
+        ),
+        Movable(
+            PointLight(
+                intensity=3.0,
+                position=[-2, 3, -2],
+                key="light-2",
+            )
+        ),
+    )
+
+    # Animation loop for the robot
+    for i in range(10000):
+        # Calculate joint angles using sinusoidal functions
+        hip_angle = 0.3 * math.sin(i * 0.1)
+        thigh_angle = 0.785 - 0.25 * math.sin(i * 0.1)
+        calf_angle = -1.5 + 0.5 * math.sin(i * 0.1)
+
+        # Update robot position and joints
+        session.upsert @ Urdf(
+            src="/static/go1/go1.urdf",
+            position=[0, 0, 0.33],
+            rotation=[0, 0, 0],
+            jointValues={
+                # Front Left
+                "FL_hip_joint": hip_angle,
+                "FL_thigh_joint": thigh_angle,
+                "FL_calf_joint": calf_angle,
+
+                # Front Right
+                "FR_hip_joint": -hip_angle,
+                "FR_thigh_joint": thigh_angle,
+                "FR_calf_joint": calf_angle,
+
+                # Rear Left
+                "RL_hip_joint": -hip_angle,
+                "RL_thigh_joint": thigh_angle,
+                "RL_calf_joint": calf_angle,
+
+                # Rear Right
+                "RR_hip_joint": hip_angle,
+                "RR_thigh_joint": thigh_angle,
+                "RR_calf_joint": calf_angle,
+            },
+            key="go1-robot",
+        )
+
+        # Update at ~60 FPS
+        await asyncio.sleep(0.016)
+
+app.run()
+```
+
+## Key Features
+
+### Fog Effect
+Creates atmospheric depth:
+```python
+Fog(
+    color="#000000",  # Black fog
+    near=1,           # Fog starts at distance 1
+    far=20,           # Full fog at distance 20
+)
+```
+
+### Ground Plane
+A large plane rotated to be horizontal:
+```python
+Plane(
+    args=[100, 100],              # 100x100 units
+    position=[0, -0.01, 0],       # Slightly below origin
+    rotation=[-1.57, 0, 0],       # Rotated 90° (π/2)
+)
+```
+
+### Staircase Mesh
+3D model with material properties:
+```python
+Obj(
+    src="/static/stairs/stairs.obj",
+    materialType="standard",
+    material={
+        "color": "#cccccc",
+        "roughness": 0.8,
+    },
+)
+```
+
+## Robot Animation
+
+The application updates continuously at approximately 60 frames per second, calculating joint values like:
+
+```python
+thigh_angle = 0.785 - 0.25 * math.sin(i * 0.1)
+```
+
+This creates realistic walking motion across the stair scene.
+
+## Leg Coordination
+
+The Go1 has a specific gait pattern:
+- Front Left and Rear Right move together (same hip angle)
+- Front Right and Rear Left move together (opposite hip angle)
+
+This creates a natural trotting gait.
+
+## Assets Required
+
+Make sure you have the following assets:
+- `go1.urdf` - Robot description file
+- `stairs.obj` - Staircase 3D model
+- Associated mesh files for the Go1 robot
+
+## Source
+
+Documentation: https://docs.vuer.ai/en/latest/tutorials/robotics/urdf_go1_stairs.html