Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Active Open source Real-time capable API available
CATEGORYMotion planning · Control & Planning
READINESSTRL 9
ADOPTION SCALEIndustry Standard
LICENSESBSD-3-Clause
FIRST RELEASE2020
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.
Type & Roles
Software types
Motion Planning Library
Control Stack
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.
API Library
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.).
Select an item to see its description.
Main category
Control & PlanningSDKs
Roles in robotics ecosystem
Motion PlanningDeveloper EnablementAPI Access
Robot Control
Robot Control denotes the role of software responsible for motion control, command execution, coordination of actuating elements and the direct operational logic of the robot.
Select an item to see its description.
Software family
Family
Motion Planning
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.
Maturity & Adoption
9 / 9
Proven in operational conditions
ResearchPrototypeProduction
Adoption scaleIndustry Standard
Maintenance statusActively Maintained – LTS
First release2020
Last update20 May 2026
Deployments
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.
Community
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.
Depends on
R2
ROS 2
Open-source framework for building robot software. The successor to ROS 1, built on DDS with native support for distributed, real-time and multi-platform systems. The de facto standard in research and commercial robotics.
O(
OMPL (Open Motion Planning Library)
An open-source C++ library of sampling-based motion planning algorithms (RRT, PRM, EST, KPIECE), developed since 2008 at the Kavraki Lab, Rice University. The de facto standard — used among others by MoveIt and OpenRAVE.
Integrates with
R2
ROS 2
Open-source framework for building robot software. The successor to ROS 1, built on DDS with native support for distributed, real-time and multi-platform systems. The de facto standard in research and commercial robotics.
R2
ROS 2 Humble Hawksbill
LTS release of the ROS 2 framework based on Ubuntu 22.04, supported through May 2027. The most widely deployed release in humanoids, AMRs, and research platforms. Full integration with Nav2, MoveIt 2 and ros2_control.
R2
ROS 2 Jazzy Jalisco
ROS 2 Jazzy Jalisco — the latest LTS (May 2024, supported until May 2029) on Ubuntu 24.04. C++17, Fast DDS 3.0, improved executors, RMW Zenoh, better QoS for variable networks.
O(
OMPL (Open Motion Planning Library)
An open-source C++ library of sampling-based motion planning algorithms (RRT, PRM, EST, KPIECE), developed since 2008 at the Kavraki Lab, Rice University. The de facto standard — used among others by MoveIt and OpenRAVE.
GH
Gazebo Harmonic (gz-sim)
An LTS release of the new-generation Gazebo (gz-sim), released in September 2023 — the successor to Gazebo Classic. Modular architecture, integrated with ROS 2 Humble/Iron/Jazzy, supported until September 2028.
NI
NVIDIA Isaac Lab
NVIDIA open framework for GPU-based robot learning, built on Isaac Sim. Trains RL policies across thousands of parallel environments. Successor to Isaac Gym and Orbit; Apache 2.0 since 2024.
NI
NVIDIA Isaac Sim
Photorealistic robotics simulator (RTX) with advanced PhysX 5 physics. Built on Omniverse Kit, supports ROS 2, synthetic data generation (SDG), Isaac Lab training, and the Isaac ROS deployment pipeline on Jetson.
P
PyBullet
A Python binding to the Bullet Physics SDK engine — the lightest popular simulator for learning-based robotics (RL) and prototyping. Open source under the Zlib license (BSD-compatible), fully Python-first.
D
Drake
An open toolbox for modeling, simulation, and control of complex robotic systems — primarily manipulators. Developed since 2013 at MIT by Russ Tedrake; since 2017 supported by the Toyota Research Institute.
Related robotics software
R2
ROS 2
Open-source framework for building robot software. The successor to ROS 1, built on DDS with native support for distributed, real-time and multi-platform systems. The de facto standard in research and commercial robotics.
R2
ROS 2 Humble Hawksbill
LTS release of the ROS 2 framework based on Ubuntu 22.04, supported through May 2027. The most widely deployed release in humanoids, AMRs, and research platforms. Full integration with Nav2, MoveIt 2 and ros2_control.
R2
ROS 2 Jazzy Jalisco
ROS 2 Jazzy Jalisco — the latest LTS (May 2024, supported until May 2029) on Ubuntu 24.04. C++17, Fast DDS 3.0, improved executors, RMW Zenoh, better QoS for variable networks.
N
Nav2
The professionally-supported successor to the ROS Navigation Stack — a production-grade navigation framework for mobile robots, quadrupeds, and AGVs. Behavior Trees, planners (Smac, NavFn, Theta*), controllers (MPPI, RPP, DWB), AMCL, costmaps.
O(
OMPL (Open Motion Planning Library)
An open-source C++ library of sampling-based motion planning algorithms (RRT, PRM, EST, KPIECE), developed since 2008 at the Kavraki Lab, Rice University. The de facto standard — used among others by MoveIt and OpenRAVE.
D
Drake
An open toolbox for modeling, simulation, and control of complex robotic systems — primarily manipulators. Developed since 2013 at MIT by Russ Tedrake; since 2017 supported by the Toyota Research Institute.
P
Pinocchio
High-performance rigid-body dynamics and kinematics library for robotics, developed since 2015 by LAAS-CNRS and Inria. C++17 + Python, Featherstone algorithms; standard for MPC and trajectory optimization.
Supported robot models
Unitree H1
Full-size general-purpose humanoid (~180 cm, ~47 kg). Bipedal, 5 DOF per leg, 3.3 m/s walking speed, 360° perception via 3D LiDAR + depth camera, Unitree M107 PMSM joint motors (~360 N·m peak knee torque).
Applications
- Research
Figure 03
Figure 03 is the third-generation humanoid robot from Figure AI, designed for Helix, home environments, and scalable mass production.
Applications
- Factory Automation
- Industrial Logistics
- Production Line Operation
- Warehouse Automation
- Object Manipulation
- Home Assistance
MagicBot Z1
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.
Applications
- Research
- Hospitality
- Retail Trade
- Home Assistance
- Object Manipulation
Xiaomi CyberOne
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.
Applications
- Research
Target robotic platforms
Humanoid
Robotic Arm
Industrial Robot
Quadruped
Mobile Robot
Research Robot
Service Robot
ROS supportCompatibility with ROS / ROS 2 ecosystem
Official ROS 2 PackagePakiet dostępny w oficjalnym rejestrze ROS 2 przez rosdep / apt (packages.ros.org)
ROS 2 MoveIt 2 PluginPlugin do frameworka MoveIt 2 dla ROS 2
ROS 2 RVIZ2 PluginPlugin do narzędzia RViz2 (wizualizacja 3D dla ROS 2)
ROS 2 Launch IntegrationGotowe pliki launch ROS 2 jako forma integracji systemowej
System capabilities
⊙
Open source
Source code is publicly available under an open-source license — enables security audits, custom modifications, and integration without licensing barriers.
✓
⚡
Real-time capable
Designed with timing-determinism guarantees — meets the requirements of control loops, safety systems, and tasks demanding low, predictable latency.
✓
⟨/⟩
API available
The software exposes a programmable interface (REST, gRPC, SDK, or language bindings) that enables automation and integration with other systems.
✓
📦
Pre-built / binary
Distributed as ready-to-use binary packages, container images, or installers — no need to build from source.
✓
Programming languages
C++Python
Operating systems
Ubuntu 22.04Ubuntu 20.04DebianmacOS
Minimum hardware requirements
Minimum hardware requirements
CPUQuad-core x86-64 ≥ 2 GHz (Intel i5 / AMD Ryzen 5) or ARM64 (Jetson Orin Nano)
RAM (GB)8
GPUOptional — RViz 2 with CAD models uses OpenGL; the planner itself runs on CPU.
Disk (GB)5
Ubuntu 22.04 LTS + ROS 2 Humble or Jazzy recommended. RealTime Linux kernel helps with MoveIt Servo.
Packaging & distribution
Package managers
apt / debcolcon (ROS 2 build tool)Docker / Docker HubSource – CMake / ament_cmakerosdep / bloom
CPU architectures
x86_64 (AMD64)ARM64 / AArch64NVIDIA Jetson – AArch64 (JetPack)
Installation difficulty
LevelModerate
Protocols and interfaces
Communication protocols
ROS 2 TopicsROS 2 ServicesROS 2 ActionsDDS (Data Distribution Service)Shared Memory (POSIX / mmap)
Hardware interfaces
Ethernet 1000BASE-T (Gigabit Ethernet)Ethernet 10GBASE-T (10 Gigabit Ethernet)USB 3.0 / 3.1 Gen 1
Latency classes
Soft Real-Time (20–100 ms)Hard Real-Time (5–20 ms)Zmienna (workload-dependent)
Deployment types
Local WorkstationOn RobotContainerizedEdge
Supported simulators
Gazebo Harmonic
Gazebo Classic (Gazebo 11)
NVIDIA Isaac Sim
MuJoCo
Official Docker images
moveit/moveit2ros:humble-desktopros:jazzy-desktop
Licenses
BSD-3-ClauseBSD 3-Clause Licensev3-Clause
License family: Permissive
ModificationDistributionCommercial useSublicensingPrivate useROS-compatibleOSI approvedFSF Free/LibreRequires attribution
Version history
MoveIt 2 Rolling 2.13Jan 2025
Development branch, continually evolving.
MoveIt 2 Jazzy 2.12 LTSMay 2024
Current stable LTS — default for ROS 2 Jazzy Jalisco, supported until 2029.
MoveIt 2 Iron 2.7May 2023
ROS 2 Iron Irwini; EOL November 2024.
MoveIt 2 Humble 2.5 LTSMay 2022
Stable LTS for ROS 2 Humble, maintained until 2027.
MoveIt 2 Galactic 2.3May 2021
Support for ROS 2 Galactic; EOL.
MoveIt 2 Foxy 2.2 LTSNov 2020
First stable MoveIt 2 release for ROS 2 Foxy. EOL since June 2023.