Mini2 is Luwu Dynamics’ flagship XGO hobby-kit robot — a small quadruped with a three-joint arm and a two-finger gripper mounted on its back, aimed at makers and students experimenting with legged locomotion and simple manipulation together on one desktop-scale platform.
The mechanism
Each leg carries three revolute joints (hip, thigh, calf) for twelve degrees of
freedom of locomotion. The arm adds three more revolute joints (yaw, then two pitch
joints), and the gripper’s two jaws share a single real actuator — one prismatic joint
drives motion directly, the other is a <mimic> of it, moving in lockstep rather than
independently. That makes sixteen real, independently actuated degrees of freedom in
total: twelve for the legs, three for the arm, and one for the gripper. Luwu’s own
published spec says “15 DOF,” which matches the legs-and-arm figure alone — a common way
vendors describe an arm’s own axis count separately from its end effector, not a
discrepancy with what’s declared here.
About these files — read before importing
This gallery entry links directly to the official luwu_mjlab repository — Luwu Dynamics’ own MuJoCo reinforcement-learning training environment for the XGO robot line, which bundles a real URDF description for each robot it trains. ARMOR links to this file and its meshes unmodified, exactly as Luwu Dynamics committed them. A wheeled variant (Mini2SW) exists in the same repository, but its URDF is byte-identical to this one — the wheels it’s named for are passive, non-rotating geometry added only in a MuJoCo simulation scene file, not part of the robot’s actual kinematic description — so it isn’t offered as a separate entry here.