Go1 is Unitree’s earlier compact quadruped — the direct predecessor to Go2, and one of the most widely used robots in published legged-locomotion research, from classical control through modern reinforcement learning.
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 — the same leg mechanism Go2 later inherited.
About this file — read before importing
This links directly to
unitree_ros’s go1_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.