diff --git a/dimos/robot/unitree/go2/go2.urdf b/dimos/robot/unitree/go2/go2.urdf
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diff --git a/dimos/utils/urdf.py b/dimos/utils/urdf.py
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+# Copyright 2025 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""URDF generation utilities."""
+
+from __future__ import annotations
+
+
+def box_urdf(
+ width: float,
+ height: float,
+ depth: float,
+ name: str = "box_robot",
+ mass: float = 1.0,
+ rgba: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.5),
+) -> str:
+ """Generate a simple URDF with a box as the base_link.
+
+ Args:
+ width: Box size in X direction (meters)
+ height: Box size in Y direction (meters)
+ depth: Box size in Z direction (meters)
+ name: Robot name
+ mass: Mass of the box (kg)
+ rgba: Color as (red, green, blue, alpha), default red with 0.5 transparency
+
+ Returns:
+ URDF XML string
+ """
+ # Simple box inertia (solid cuboid)
+ ixx = (mass / 12.0) * (height**2 + depth**2)
+ iyy = (mass / 12.0) * (width**2 + depth**2)
+ izz = (mass / 12.0) * (width**2 + height**2)
+
+ r, g, b, a = rgba
+ return f"""
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+"""