Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
MoveIt 2 is the port of the flagship MoveIt framework from ROS 1 to ROS 2, started in 2019 by PickNik Robotics in collaboration with Open Robotics. MoveIt is the most widely used manipulation software in robotics — running on over 150 robots, from industrial arms (KUKA, Universal Robots, ABB), through humanoids (NASA Valkyrie, HRP-4), to mobile robots with manipulators. BSD-3-Clause license.
MoveIt 2 architecture is built on three layers: (1) motion planners — mainly OMPL (RRT*, RRT-Connect, KPIECE, PRM) plus CHOMP, STOMP, TrajOpt, and Pilz Industrial Motion Planner; (2) kinematics — KDL, IKFast, TRAC-IK, bio_ik, complete IK with constraints; (3) collision checking — FCL (Flexible Collision Library) with URDF/SDF models.
Key components: MoveIt Setup Assistant (GUI wizard for new robots), MoveIt Task Constructor (multi-stage pick & place planning), MoveIt Servo (real-time Cartesian Jog control), MoveIt Grasps (grasp generation), and full integration with RViz 2, Gazebo Harmonic, and NVIDIA Isaac Sim. PickNik offers a commercial MoveIt Pro version with additional behavior trees, perception pipelines, and 24/7 support.
A Control Stack is the set of software components responsible for control logic, motion planning, command execution, and coordination of a robot's actuators. It receives high-level goals or waypoints (from planning or AI layers) and translates them into low-level actuator commands, closed-loop feedback control, and safety checks. Common implementations include MoveIt (arm manipulation), Nav2 (mobile navigation), and custom whole-body control stacks for humanoids.
An API Library is a software package that exposes programmatic interfaces for communicating with a device, service, or system. In robotics it typically forms a lightweight integration layer built on top of the manufacturer's official API or an open-source project, abstracting low-level protocol details and providing language-native bindings (Python, C++, Java, etc.).
A family of open-source libraries for motion planning (RRT, PRM, Lazy-PRM), inverse kinematics, rigid-body dynamics, and trajectory optimization: MoveIt, OMPL, Pinocchio, Drake, RBDL, TrajOpt, KDL, Bullet, iDynTree.
Over 150 robots: Universal Robots UR3/5/10/16, KUKA iiwa/LBR, Franka FR3/Panda, ABB IRB, Kinova Gen3, Kawasaki, ROS-Industrial Consortium, NASA Valkyrie, NIST ARIAC competitions, Amazon Picking Challenge, MIT-Pinocchio integration, PickNik DARPA RACER.
github.com/moveit/moveit2 ~1.5k★, github.com/moveit/moveit ~1.4k★ (ROS 1), MoveIt Discourse Forum > 10k users, MoveIt Discord ~3k, ROSCon talks every year 2020–2024, > 600 scientific papers citing MoveIt.
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Unitree H1 is a full-size general-purpose humanoid robot (~180 cm, ~47 kg). Bipedal, 5 DOF per leg + 4 DOF per arm, 3.3 m/s walking speed, 360° perception via 3D LiDAR + depth camera, Unitree M107 PMSM joint motors with ~360 N·m peak knee torque. Standard compute: Intel Core i5/i7; optional NVIDIA Jetson Orin NX.
Figure 03 is the third-generation humanoid robot from Figure AI, designed for Helix, home environments, and scalable mass production.
Compact, high-dynamics bipedal humanoid by MagicLab. 140 cm, 40 kg, 24–50 DOF, walking speed up to 2.5 m/s. Unveiled on 8 July 2025 with martial arts and acrobatic demos.
Xiaomi’s full-size humanoid prototype unveiled on August 11, 2022 — 177 cm tall, 52 kg, 21 degrees of freedom, featuring the MiSense depth-vision module and an environmental voice and emotion recognition engine.
Ubuntu 22.04 LTS + ROS 2 Humble or Jazzy recommended. RealTime Linux kernel helps with MoveIt Servo.
License family: Permissive
Development branch, continually evolving.
Current stable LTS — default for ROS 2 Jazzy Jalisco, supported until 2029.
ROS 2 Iron Irwini; EOL November 2024.
Stable LTS for ROS 2 Humble, maintained until 2027.
Support for ROS 2 Galactic; EOL.
First stable MoveIt 2 release for ROS 2 Foxy. EOL since June 2023.
