kaweees/unitree_model

Unitree Robot Models — Expanded Collection

This is kaweees' expanded fork of unitreerobotics/unitree_model. It contains robot geometry and descriptions, rather than recorded training examples or trained policies.

The original nine USD entry points and their configuration layers are preserved. This fork adds 79 generated USD robot/hand/arm variants, the existing H2 Plus USD package, and pinned URDF/Xacro/MJCF sources with their meshes and licenses. See the complete model catalog for exact entry points.

Added coverage

Category	Robots and assemblies added beyond the original collection
Quadrupeds	A1, A2, AlienGo, As2, B1, Go1, Laikago
Wheeled quadrupeds	As2-W, B2-W
Humanoids	G1+ (g1_pl), G1-Comp, G1 with BrainCo hands, H2 Plus, H2-X, R1, R1 Air
Mobile manipulators	G1-D, H2-D, R1-A7-D (r1d), AlienGo with Z1
Arms / upper bodies	Z1, R1-7a, R1-A5, R1-A7, G1 dual-arm, UniArmL1
Hands / grippers	Dex1-1, Dex2/5, Dex3-1, Dex5-1, Inspire DFQ/FTP hands, standalone BrainCo left/right hands
DIY biped	Qmini
Training variants	G1 12-DOF, H1-2 12-DOF, H1-2 simplified

Additional variants of existing families include G1 mode-machine and locked-waist configurations, G1 hand-equipped configurations, H1 with hands, H1-2 with FTP hands, and H2 closed-loop ankle source descriptions. The catalog lists every converted variant separately; 79 is a count of assets, not distinct robot products.

Files and usage

• Original assets retain their existing paths under B2/, G1/, Go2/, Go2W/, H1/, H1-2/, and H2/.
• H2_Plus/H2_with_sharpa.usd is the existing Unitree USD package recovered from the GitHub unitree_model repository.
• generated/<package>/<variant>/<robot>.usdc contains a converted robot with embedded mesh geometry. Keep any adjacent Textures/ directory with it.
• Each generated asset includes input.urdf, a normalized, portable copy of its converter input. Its relative mesh paths point into sources/.
• sources/ contains the pinned original description files, meshes, native MJCF assets, repository READMEs and licenses.
• manifest.json records every converted entry point, its source, normalization steps, warnings and validation results.
• provenance.json pins upstream repositories to exact commits.

For example, download the A1 USD and its textures:

from huggingface_hub import snapshot_download

root = snapshot_download(
    repo_id="kaweees/unitree_model",
    repo_type="dataset",
    allow_patterns=["generated/a1_description/a1/**"],
)
asset_path = f"{root}/generated/a1_description/a1/a1.usdc"

Open or reference asset_path in a USD application. Download sources/** too if you want to use or reconvert input.urdf. Native MuJoCo assets are under sources/unitree_mujoco/unitree_robots/.

Conversion and verification

The generated assets use urdf-usd-converter 0.3.4. Postprocessing flattens rigid bodies while preserving their world transforms and joint references. Mobile robots have the converter's synthetic world fixation removed; arms, standalone hands and upper-body assemblies remain fixed. Source centers of mass, including zero offsets, are authored explicitly so USD does not infer different centers from collision geometry. Missing material names receive deterministic identifiers; original source files are unchanged. No controller gains are tuned.

All 79 generated stages pass the checks in validation_report.json:

• USD composition and dependency resolution;
• nonempty mesh geometry, rigid bodies, valid joint-body references and a flat rigid-body hierarchy;
• preservation of all source revolute, continuous and prismatic joint counts;
• preservation of total and per-link source mass, centers of mass and inertia tensors;
• preservation of joint axes and limits, and resolution of mimic relationship targets;
• independent source-URDF forward kinematics compared against all 2,562 generated rigid-body world transforms.

See KNOWN_LIMITATIONS.md for the remaining physics gaps. These are structural and kinematic checks. Isaac Sim / PhysX and Newton runtime behavior has not been tested. Source-specific mimic joints, transmissions, sensors, closed-loop mechanisms and controllers can require simulator-specific configuration. Conversion warnings are retained in the manifest: H1's hand-equipped torso DAE contains an unsupported line primitive, and some H2 source material references are undefined. Triangle meshes are still present. Original Unitree USD materials can depend on Isaac Sim's built-in OmniPBR.mdl shader.

To reproduce conversions from this downloaded repository on a Linux container host:

docker build -t unitree-usd-converter -f scripts/Dockerfile .
docker run --rm -v "$PWD:/work" unitree-usd-converter python /work/scripts/convert_models.py
docker run --rm -v "$PWD:/work" unitree-usd-converter python /work/scripts/validate_models.py

The converter uses the vendored, pinned source files; it does not fetch changing branches. For the original Unitree Isaac Sim URDF import instructions, see UPSTREAM_README.md.

Attribution and licenses

Robot designs and source assets are supplied by Unitree Robotics. Sources include unitree_ros, unitree_mujoco, z1_ros, unitree_model, Qmini, UniArmL1, xr_teleoperate and unitree_rl_gym.

Licenses apply per source and derived asset. Qmini is CC BY-NC-SA 4.0, UniArmL1 and XR teleoperation sources are Apache-2.0, and the included Unitree ROS/MuJoCo/Z1/GitHub-model/RL Gym repository license notices are BSD-3-Clause. The inherited Hugging Face files retain their upstream terms. See LICENSES.md and the preserved source license files before redistribution or reuse.