Magicbot-Z1 Description (URDF & MJCF)

July 9, 2026 · View on GitHub

Overview

This package includes a universal humanoid robot description (URDF & MJCF) for the Magicbot-Z1, developed by Magiclab Robotics.

Magicbot-Z1 Humanoid has 23 actuated joints (plus a floating base):

root [⚓] => /pelvis/  (floating_base)
    left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
        left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
            left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
                left_knee_joint [⚙+Y] => /left_knee_link/
                    left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
                        left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
    right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
        right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
            right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
                right_knee_joint [⚙+Y] => /right_knee_link/
                    right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
                        right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
    waist_yaw_joint [⚙+Z] => /torso_link/
        left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
            left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
                left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
                    left_elbow_joint [⚙+Y] => /left_elbow_link/
                        left_wrist_roll_joint [⚙+X] => /left_wrist_roll_link/
                            left_hand_palm_link (fixed)
        right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
            right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
                right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
                    right_elbow_joint [⚙+Y] => /right_elbow_link/
                        right_wrist_roll_joint [⚙+X] => /right_wrist_roll_link/
                            right_hand_palm_link (fixed)
        head_joint [⚙+Z] => /head_link/

Files

Type	Path	Description
URDF	`urdf/MagicBotZ1.urdf`	Robot description for ROS 2 / RViz, meshes referenced via `package://magicbot-z1_description/meshes/`
MJCF	`mjcf/MAGICBOTZ1.xml`	MuJoCo model, meshes referenced via `meshdir="../meshes"`
Meshes	`meshes/`	STL meshes shared by URDF and MJCF
Launch	`launch/view.launch.py`	RViz viewer launch file
RViz	`rviz/view.rviz`	RViz preset configuration

Usages

RViz

sudo apt install ros-humble-joint-state-publisher-gui
cd magicbot-z1_description
colcon build --packages-select magicbot-z1_description
source install/setup.bash
ros2 launch magicbot-z1_description view.launch.py

MuJoCo

pip install mujoco
cd magicbot-z1_description
python3 -m mujoco.viewer --mjcf=mjcf/MAGICBOTZ1.xml

Or with the MuJoCo simulate binary:

./simulate mjcf/MAGICBOTZ1.xml