Go2 is Unitree’s compact quadruped — a four-legged robot dog built for agile locomotion research, inspection, and field deployment, small and light enough to carry by hand yet capable of running, climbing stairs, and recovering from falls.
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 go2_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.