Unitree Z1 URDF Model — Import into ARMOR for iPhone, iPad & Mac

Add to ARMOR

8 files 14.4 MB download

Opens in the ARMOR app on iPhone, iPad, or Mac. Don’t have it yet? Get ARMOR.

Z1 is Unitree’s own lightweight 6-axis robotic arm — a compact research and education platform, separate from the company’s better-known legged quadrupeds and humanoids.

The mechanism

Six revolute joints in series form a textbook 6-axis arm — no mimic joints, no closed loops, every movable joint an independent actuator.

About this file — read before importing

This links directly to unitree_ros’s z1_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.

License & attribution

Source code

BSD-3-Clause

Model & mesh files

BSD-3-Clause

Attribution

ARMOR does not host or redistribute this model. Choosing “Open in ARMOR” downloads the files directly from Unitree Robotics’s own repository, unmodified. Your use of the model is governed by the license above.

Read the full license →

ARMOR is an independent tool published by DCDC LLC. It is not affiliated with, sponsored by, or endorsed by Unitree Robotics (Hangzhou Yushu Technology Co., Ltd.). "Unitree" and "Z1" are used here only to identify the robot this file describes. This model is downloaded directly from Unitree's own repository under the BSD 3-Clause License, which you accept by downloading.