AlienGo is Unitree’s mid-size quadruped — larger and more powerful than the compact A1/Go1/ Go2 line, sized between those platforms and the heavy-duty B-series, aimed at research and inspection tasks needing more payload capacity than a compact quadruped can carry.
The mechanism
Each of the four legs carries three actuated joints — a hip abduction joint, a hip flexion joint, and a knee — giving twelve degrees of freedom in total. No mimic joints or closed kinematic loops anywhere in the description, so this is a direct, unadjusted read of the URDF’s actuated joints.
About this file — read before importing
This links directly to
unitree_ros’s aliengo_description
package, Unitree’s own repository. ARMOR links directly to that repository rather than
re-hosting anything, so what you get is exactly what Unitree publishes, unmodified.