Unitree Go2

Go2 quadruped description with vendor-provided geometry.

QuadrupedsURDFSource models

Inspect this model in 3D

Rotate the robot, move its joints and inspect collision geometry. The preview fetches model resources directly from the pinned upstream revision.

Visualization checks geometry and joint motion. It does not run a physics simulation.

Before you use this model

Check the exact hardware revision and simulator integration. This file alone does not include a tested controller.

Vendor descriptions for quadrupeds, humanoids and hands. Files are model assets; the repository name does not establish ROS 2 or simulator compatibility.

Get the source package

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Download upstream ZIP

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Open model source Repository & documentation

Maintainer / source: unitreerobotics/unitree_ros
Branch at check: master
Model path: robots/go2_description/urdf/go2_description.urdf
Revision: deeb607f3a89
License context: BSD-3-Clause reported at repository level; inspect asset-specific terms
Source checked: 2026-10-28 · path and resources, not simulator behavior

From source to your workspace

1. Get the complete package
Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.
2. Resolve the description
Keep the URDF together with its mesh files. Check package:// paths and preserve the original directory structure.
3. Inspect before simulation
Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.
Check your URDF