Unitree B1

Built by:   Unitree
Licence:    BSD-3-Clause
Source:     https://github.com/unitreerobotics/unitree_ros/tree/267182b8521c8d6a631bab1fe63836873237a525/robots/b1_description
Commit:     267182b8521c8d6a631bab1fe63836873237a525
Collection: unitreerobotics/unitree_ros
Packaged:   2026-08-28 by urdfbase.com/models/unitree-b1/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - joint "FR_hip_joint" has a velocity limit of 19.69, which MJCF does not store on the joint — enforce it in the controller
  - joint "FR_thigh_joint" has a velocity limit of 23.32, which MJCF does not store on the joint — enforce it in the controller
  - joint "FR_calf_joint" has a velocity limit of 15.55, which MJCF does not store on the joint — enforce it in the controller
  - joint "FL_hip_joint" has a velocity limit of 19.69, which MJCF does not store on the joint — enforce it in the controller
  - joint "FL_thigh_joint" has a velocity limit of 23.32, which MJCF does not store on the joint — enforce it in the controller
  - joint "FL_calf_joint" has a velocity limit of 15.55, which MJCF does not store on the joint — enforce it in the controller
  - joint "RR_hip_joint" has a velocity limit of 19.69, which MJCF does not store on the joint — enforce it in the controller
  - joint "RR_thigh_joint" has a velocity limit of 23.32, which MJCF does not store on the joint — enforce it in the controller
  - joint "RR_calf_joint" has a velocity limit of 15.55, which MJCF does not store on the joint — enforce it in the controller
  - joint "RL_hip_joint" has a velocity limit of 19.69, which MJCF does not store on the joint — enforce it in the controller
  - joint "RL_thigh_joint" has a velocity limit of 23.32, which MJCF does not store on the joint — enforce it in the controller
  - joint "RL_calf_joint" has a velocity limit of 15.55, which MJCF does not store on the joint — enforce it in the controller

The robot belongs to the people who built it. Credit the source, not this site.
