Unitree Go2
Unitree's robot dog: four two-segment legs, twelve joint motors, a 4D LiDAR scanning unit in its head and a wide-angle camera. The Robodex's first legged entry — it walks, so the wheeled motion gate has nothing to grade it with yet.
Spec
| Battery | 8000 mAh smart battery; 28.8 V nominal (the table's 28–33.6 V band is an 8S pack; 33.6 V charger) |
|---|---|
| Dimensions (standing) | 0.70 × 0.31 × 0.40 m (Unitree parameter table) |
| Mass | 16.087 kg — sum of the URDF link masses; Unitree publishes ~15 kg with battery |
| Motors | 12 joint motors (Unitree parameter table) |
| Sensors | 4D LiDAR L1, HD wide-angle camera (Unitree parameter table) |
| Wiring | Not documented publicly — no wiring block is shown for this robot |
examples/unitree-go2.jsonMass is the sum of the 33 link masses in the official go2_description URDF (body 6.923 kg + four legs at 2.291 kg each = 16.087 kg). That is more than Unitree's published ~15 kg with battery; the URDF models each joint's rotor as its own link, and the table's figure is a rounded marketing weight — both numbers are stated in the key specs and neither is hidden. Dimensions, motor count, battery and sensors from Unitree's published Go2 parameter table. The internal wiring harness is not publicly documented, so this spec carries no wiring block.Gate runs
The motion gate covers ground robots today. This class has no gate yet, so there is no verdict to show — the note below says why, in the entry's own words.
No recorded gate runs yet. This robot has no verdict until one is measured.
Static stability check
A computation from this robot's spec — support-polygon statics, not a simulation run and not a gate verdict. It grades how far the robot can tip before its centre of mass passes over its feet. The gate status above is unchanged by it: this robot is still not gated.
| Grade | STABLE |
|---|---|
| Static tip-over angle (weakest direction) | 31.8° — to the right |
| Weakest tip margin | 136 mm from the centre-of-mass projection to the support-polygon edge |
| Margin as share of the body's half-extent | 88% |
| Centre-of-mass height | 0.220 m — ASSUMED at 55% of standing height (printed in the report's assumptions, never buried) |
| Thresholds (v1, printed on the report) | tip angle ≥ 20° STABLE · 10–20° MARGINAL · < 10° UNSTABLE |
Report: catalog/stability-reports/unitree-go2.json · checked 2026-10-26 · reproduce with robotforge stability examples/unitree-go2.json
How it was computed
Support-polygon statics from the spec's declared dimensions: convex hull of the foot contacts, weakest-direction distance from the centre-of-mass projection to a polygon edge, tip-over angle atan(margin / CoM height). No simulation, no motion — a computation, not a gate run.
Support model: Four point feet in static stance, placed from the body length/width with the take-apart viewer's fractions (x = ±0.405 × length, y = ±0.44 × width).
| Direction | Margin | Tip angle |
|---|---|---|
| to the right | 136 mm | 31.8° |
| forward | 284 mm | 52.2° |
| to the left | 136 mm | 31.8° |
| backward | 284 mm | 52.2° |
Assumptions (all of them, as printed in the report):
- Feet are points at the viewer's stance placement; the spec publishes no foot-placement dimensions.
- All four feet are on the ground (static stance, no gait).
- Centre of mass sits horizontally at the centre of the body footprint.
- CoM height is ASSUMED at 55% of standing height — the spec declares no CoM height.
- Flat, level ground; rigid body; no payload.
Take it apart
This viewer derives a schematic take-apart straight from the spec's numbers — the same one-derivation rule as the ground kits — flat views, or in 3D with the toggle. It is a schematic of the real robot's layout, not a printable kit: robotforge cad kits cover ground robots only today. Click any part.
examples/unitree-go2.json…Reproduce it
Run these from a clone of the repository. The twin, CAD kit and motion gate (urdf / cad / run-gate) cover ground robots today, so they are not listed here.
robotforge validate examples/unitree-go2.json
robotforge stability examples/unitree-go2.json
robotforge catalog robot 7