11 robots  ·  humanoids, quadrupeds, an arm  ·  BSD-3-Clause

Unitree robots in URDF, MJCF and MuJoCo

Every Unitree robot with a published description, in one place — the G1 and H1 humanoids, the Go2 and B2 quadrupeds and the rest of the line — each as the URDF Unitree keeps in its own repositories or the MJCF DeepMind tuned for MuJoCo. Open one in a tab, simulate it, check the numbers in its file, download it as a 3D model, or take a movement from here to the Unitree SDK.

Simulate the G1 Look inside the Go2

Humanoids

3

Quadrupeds

7

Arm

1

What each description says

Read from the files the viewer opens rather than from a brochure: the joints that move — not counting the floating base of a walking robot, or joints that only follow another — the links, and the mass the links add up to. Where a file and a specification sheet disagree, the file is what a simulator will use.

RobotWritten inJoints that moveLinksMass in the fileTaken from
Unitree G1 MJCF 29 30 33.3 kg MuJoCo Menagerie
Unitree H1 MJCF 19 20 51.4 kg MuJoCo Menagerie
Unitree H1-2 URDF 39 58 67.4 kg unitreerobotics/unitree_ros
Unitree Go2 MJCF 12 13 15.2 kg MuJoCo Menagerie
Unitree Go1 MJCF 12 13 12.7 kg MuJoCo Menagerie
Unitree A1 MJCF 12 13 12.5 kg MuJoCo Menagerie
Unitree B2 URDF 12 37 74.6 kg unitreerobotics/unitree_ros
Unitree B1 URDF 12 36 62.6 kg unitreerobotics/unitree_ros
Unitree Aliengo URDF 12 31 24.9 kg unitreerobotics/unitree_ros
Unitree Laikago URDF 12 14 25.2 kg unitreerobotics/unitree_mujoco
Unitree Z1 MJCF 6 7 4.4 kg MuJoCo Menagerie

Unitree in MuJoCo

Six of these robots — the A1, Go1, Go2, G1, H1 and the Z1 arm — are in DeepMind's MuJoCo Menagerie: MJCF written for MuJoCo by people who simulate for a living, with actuators, contact settings and a scene to stand in. The other five come from Unitree's own repositories as URDF. Either way the robot runs in the physics lab on MuJoCo itself, compiled to WebAssembly, in the tab — gravity, contact and the motors its description declares.

Unitree's own simulator is a different thing with a different job. unitree_mujoco runs MuJoCo on your machine behind unitree_sdk2, in C++ or in Python, so a low-level controller written for the real robot drives the simulated one unchanged, motor numbering and all. That is the last step before hardware. What is here is the step before it: opening a robot, seeing what its file says and trying a movement, with nothing installed.

URDF for ROS and ROS 2

Unitree keeps its descriptions in unitree_ros, one package per robot under robots/ — more machines than are listed here, the newer ones included. The URDF robots on this page are taken from it and from unitree_mujoco, pinned to a commit and listed only after every mesh they name was found; each robot's page says which commit.

For ROS 2 the description is half the job, and unitree_ros2 is the other half: the messages that talk to the robot itself. Every robot here downloads as a URDF folder with its meshes, and the ros2_control configuration and MoveIt's SRDF come out of the same file through the viewer's Export menu.

From a movement to the Unitree SDK

Motion builds a movement on any of these robots — posed key by key, baked from a gait, or retargeted from motion capture onto a humanoid — and checks it against the robot's own description: the torque each joint is asked for against the effort its motor declares, joints resting on their limits, feet sliding.

The result leaves as a Python script for unitree_sdk2_python: joint positions at 50 Hz, a two-second ramp into the first pose, and a header that says whether the movement is stable enough to send as a plain position reference or needs a balance controller between it and the motors. The SDK calls and the motor order are left for you to wire, on purpose: they differ from robot to robot, and a wrong guess moves the wrong limb.

Unitree robots as 3D models

Any robot here downloads as one 3D file, written in your browser from its published meshes: a GLB with every part in place and named after its link, for Blender, a render or a web page, or an STL in millimetres with Z up, for a slicer. The GLB carries the robot's licence and source inside it, and the pose is the one on screen — move a joint first and the file keeps it.

Common questions

Where do I get a Unitree G1 URDF?

From Unitree: its unitree_ros repository keeps one under robots/g1_description, beside the URDFs of most of its other robots. The G1 on this site is DeepMind's MJCF from the MuJoCo Menagerie, and its page downloads it as URDF as well — converted, with what the conversion could not carry written at the top of the file.

Can I simulate a Unitree robot without installing MuJoCo?

Yes. Every robot on this page opens in the physics lab, which runs DeepMind's WebAssembly build of MuJoCo in the tab: gravity, contact and the motors the description declares, under a controller you can read and change. Nothing is installed.

Is this the same as unitree_mujoco?

No. unitree_mujoco is Unitree's own simulator: MuJoCo on your machine, wired to unitree_sdk2, so a controller written for the real robot runs against the simulated one unchanged — the step before hardware. This page is for the step before that: looking at the robot, checking its numbers and trying a movement, with nothing installed.

Why do the numbers here differ from Unitree's specifications?

They are read from the description files, not from a brochure. A description can model a hand as one joint or leave it out, keep a joint the product locks, or carry masses an exporter estimated. The table says what the file says, which is what a simulator will use, and the viewer shows every joint and mass it counted.

Can I get a Unitree robot as a 3D model?

Yes. Each robot here downloads as one GLB with every part in place and named after its link, for Blender, a render or a web page, or as an STL in millimetres for printing. Both are written in your browser from the published meshes, and the GLB carries the licence inside it.

What licence are Unitree's robot models under?

BSD-3-Clause, for all eleven here: the licence Unitree publishes its descriptions under, kept by DeepMind for the Menagerie versions. Each robot's page links to the folder it came from — credit that folder if you use the model.

Can I drive a real Unitree robot from here?

Not directly, and on purpose. Motion writes a movement out as a Python script for unitree_sdk2_python: joint positions at 50 Hz, a two-second ramp into the first pose, and a header saying whether the movement is stable enough to send as a plain position reference. The two SDK calls and the motor order are yours to wire.

Where to go next