Unitree URDF / MJCF / USD — model file index

Which file do I actually need, for which robot?

An index of every Unitree simulation model folder across unitree_ros (URDF + MJCF) and unitree_model (USD / Isaac Sim), with the gotchas that cost people an afternoon.

Full technical reference · Unitree Türkiye · info@robotlar.org

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Why this exists. The model files are split across two repositories, the folder names do not match the product names (h2_plus, not h2_plus_description), and several robots ship more than one body — G1 alone has 23-DOF and 29-DOF variants plus locked-waist and multiple hand builds. This index maps product name → folder → actual file, so you can go straight to the file.

Verified against the GitHub contents API on 14 August 2026. If a folder changed upstream, the repository is the source of truth — please open an issue.

Humanoids

Robot	Folder (unitree_ros/robots/)	Files	USD
G1	g1_description	g1_23dof.urdf, g1_29dof.urdf, g1_29dof_with_hand.urdf, locked-waist and rev_1_0 builds, plus a matching .xml (MJCF) for most	G1
G1-D	g1_d_description	g1_d.urdf	—
G1 + BrainCo hand	g1_with_brainco_hand	g1_29dof_mode_15_brainco_hand.urdf	—
H2	h2_description	H2.urdf, H2_dae.urdf, H2_loop.urdf, H2_loop.xml	H2
H2 Plus	h2_plus	H2_Plus.urdf	H2_Plus
H1	h1_description	ROS package: urdf/, mjcf/, meshes/	H1
H1-2	h1_2_description	h1_2.urdf, h1_2.xml, h1_2_handless.urdf, h1_2_handless.xml, FTP hand build	—
R1	r1_description	R1.urdf	—
R1 AIR	r1_air_description	R1_AIR.urdf	—
R1-A5	r1_a5_description	r1_a5.urdf	—
R1-A7	r1_a7_description	r1_a7.urdf	—

Quadrupeds

Robot	Folder (unitree_ros/robots/)	Files	USD
Go2	go2_description	ROS1 package: urdf/, xacro/, dae/, meshes/	Go2
Go2-W	go2w_description	ROS1 package: urdf/, dae/, config/, launch/	—
B2	b2_description	ROS1 package: urdf/, xacro/, meshes/	B2
B2 (MuJoCo)	b2_description_mujoco	xml/, meshes/ — separate folder, see note 3	—
B2-W	b2w_description	ROS1 package: urdf/, xacro/, config/	—
AS2	as2_description	urdf/as2.urdf, as2.xml (MJCF)	—
A2	a2_description	urdf/a2.urdf, a2.xml (MJCF)	—
Go1	go1_description	ROS1 package	—
A1	a1_description	ROS1 package	—
B1	b1_description	ROS1 package (xacro/, no urdf/)	—
AlienGo	aliengo_description	ROS1 package	—
AlienGo + Z1	aliengoZ1_description	xacro/, worlds/ — arm mounted on quadruped	—
Laikago	laikago_description	ROS1 package	—

Arms and hands

Component	Folder	Files
Z1 arm	z1_description	xacro/, meshes/, config/ — no flat .urdf, build it from the xacro
Dexterous hands	dexterous_hand_description	dex1_1, dex2_5, dex3_1, dex5_1

Notes that save time

1. G1 is not one model. g1_23dof and g1_29dof are different kinematic chains, not detail levels. Locked-waist (lock_waist), hand-equipped (with_hand, Inspire DFQ/FTP, Dex1-1) and rev_1_0 hardware-revision builds are all separate files. Pick the one that matches your unit before you tune anything — a policy trained on the wrong DOF count will not transfer.

2. For H2, H2_loop is usually the file you want. It models the closed kinematic chain; H2.urdf does not. On the MuJoCo side that means H2_loop.xml. H2_dae.urdf differs only in mesh format (DAE instead of STL).

3. B2 has two folders. b2_description is the ROS package; b2_description_mujoco is the MuJoCo build with its own xml/. They are not interchangeable, and loading the ROS package into MuJoCo is a common early mistake.

4. There is no separate URDF for AS2-W or A2-W. The wheeled variants have no own folder — as2_description and a2_description each carry a single body model. (Go2-W and B2-W do have their own folders: go2w_description, b2w_description.)

5. USD exists for six robots only: B2, G1, Go2, H1, H2, H2 Plus. Everything else has URDF/MJCF but no published USD, so an Isaac Sim pipeline for those models starts from URDF import.

6. Folder naming is inconsistent. Most end in _description, but H2 Plus is just h2_plus and the BrainCo build is g1_with_brainco_hand. Do not guess folder names from product names.

7. Older generations (A1, B1, Go1, AlienGo, Laikago) are still present and use the ROS1 package layout with xacro/. The newer humanoids ship flat .urdf + .xml pairs instead.

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Türkçe

Bu depo, Unitree robotlarının simülasyon model dosyalarının (URDF, MJCF ve USD) model bazında dizinidir. Dosyalar iki ayrı depoya dağılmış durumda ve klasör adları ürün adlarıyla birebir örtüşmüyor — bu tablo hangi robot için hangi dosyanın gerektiğini doğrudan gösteriyor.

Dikkat edilecek noktalar:

• G1 tek model değil. g1_23dof ve g1_29dof farklı kinematik zincirler; bel kilitli, elli ve donanım revizyonlu sürümler ayrı dosyalar. Yanlış serbestlik derecesiyle eğitilen politika gerçek robota aktarılmaz.
• H2'de genelde H2_loop istediğiniz dosyadır — kapalı kinematik zinciri modelleyen sürüm bu. MuJoCo tarafında H2_loop.xml.
• B2'nin iki klasörü var: b2_description (ROS paketi) ve b2_description_mujoco (MuJoCo gövdesi). Birbirinin yerine kullanılmaz.
• AS2-W ve A2-W için ayrı URDF yayımlanmadı. Tekerlekli varyantların kendi klasörü yok; Go2-W ve B2-W'nin ise var.
• USD yalnız altı robot için var: B2, G1, Go2, H1, H2, H2 Plus.

Model bazında tam tablo ve Türkçe açıklamalar: robotlar.org/tr/acik-kaynak

İlgili Türkçe dokümantasyon:

• Unitree SDK rehberi — unitree_sdk2, C++ ve Python
• Endüstriyel navigasyon yazılımı — SLAM ve otonom denetim
• RL Gym — pekiştirmeli öğrenme ve sim-to-real

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Source repositories

• unitreerobotics/unitree_ros — URDF and MJCF, under robots/
• unitreerobotics/unitree_model — USD (Isaac Sim)
• unitreerobotics/unitree_sdk2 · unitree_sdk2_python
• unitreerobotics/unitree_ros2

This index is not affiliated with or endorsed by Unitree Robotics; it links to the official repositories and is maintained as a convenience. Corrections welcome via issues.

Maintained by Robotlar.org — Unitree Robotics Türkiye distributor