Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Active API available
CATEGORYSimulation · Simulation & Digital Twins
READINESSTRL 9
ADOPTION SCALEIndustry Standard
LICENSESLicenseRef-Proprietary
FIRST RELEASE2019
NVIDIA Isaac Sim is the reference robotics simulation application built on NVIDIA Omniverse Kit. It combines photorealistic rendering (RTX with ray tracing and path tracing), advanced PhysX 5 physics, and the USD (Universal Scene Description) engine as the native scene format. It can import URDF, MJCF, FBX, and USD models with full preservation of materials, kinematics, and constraints.
Key components: Replicator for synthetic data generation (SDG) with semantic, depth, and bounding-box annotations; Isaac Lab (formerly OmniIsaacGymEnvs) for GPU-based RL/IL policy training; Isaac ROS as a CUDA-accelerated perception node stack; and full integration with ROS 2 Humble/Jazzy via Action Graph and bridge.
Isaac Sim 5.0 (2025) introduced humanoid support (dexterous manipulation, whole-body control), full Sim2Real pipeline for MoveIt 2, and compatibility with Cosmos and GR00T N1 models. Used by Boston Dynamics, 1X, Figure AI, Agility Robotics, Sanctuary AI, and thousands of academic teams for neural network policy training and algorithm validation.
Type & Roles
Software types
Simulation
Simulation software is used for modelling, testing, and validating robot behaviours, sensor characteristics, environments, and algorithms without requiring physical hardware. It enables safe, repeatable, and cost-effective development cycles. Common robotics simulators include Gazebo, Isaac Sim (NVIDIA), MuJoCo, PyBullet, and Webots, each offering different trade-offs between physics accuracy, rendering fidelity, and integration with middleware frameworks such as ROS 2.
Developer Tool
A Developer Tool is software designed to support the development workflow, including configuration, debugging, testing, monitoring, validation, and integration of robotic and embedded systems. Examples include IDE plugins, visual debuggers, log analysers, hardware-in-the-loop (HIL) test harnesses, and code-generation utilities specific to robotics platforms.
Select an item to see its description.
Main category
Simulation & Digital TwinsDeveloper Tools
Roles in robotics ecosystem
Developer EnablementPerceptionMotion Planning
Software family
Family
NVIDIA Isaac
Maturity & Adoption
9 / 9
Proven in operational conditions
ResearchPrototypeProduction
Adoption scaleIndustry Standard
Maintenance statusMaintained by Single Vendor
First release2019
Last update18 March 2025
Deployments
Boston Dynamics (training Atlas behaviors), Figure AI (Helix sim2real), 1X (NEO simulation), Agility Robotics (Digit), Sanctuary AI (Phoenix), Disney Imagineering, BMW (factory simulation).
Community
500k+ Omniverse downloads, 50k+ active Isaac Sim users per NVIDIA GTC 2025; active forums and community Discord.
Organizations
Related robotics software
NP
NVIDIA PhysX
Open-source real-time physics engine by NVIDIA. PhysX 5 supports rigid-body, soft-body, cloth, fluid, and GPU-based simulation. The default physics engine in Isaac Sim, Unreal Engine, and many robotics solutions.
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.
Supported robot models
Unitree H1
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.
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
Tesla Optimus
General-purpose humanoid robot developed by Tesla since 2021 (Tesla Bot). About 173 cm tall, 57 kg, 20 kg payload. Generation 3 hands have 22 degrees of freedom. Controlled by an AI system derived from Tesla FSD.
Applications
- Factory Automation
- Production Line Operation
- Object Manipulation
- Home Assistance
Atlas
Boston Dynamics bipedal humanoid robot. The fully electric generation unveiled in 2024 succeeds the hydraulic Atlas that was retired after more than a decade of research.
Applications
- Factory Automation
- Research
- Production Line Operation
- Object Manipulation
Target robotic platforms
Humanoid
Quadruped
Mobile Robot
Robotic Arm
Industrial Robot
Research Robot
Drone / UAV
Supported hardware
NVIDIA Jetson AGX Orin 64GB
compute · compute_modules · industrial
NVIDIA Jetson AGX Thor
compute · compute_modules · industrial
Intel RealSense D435i
sensing · cameras · research · Stereo RGB-D camera
Intel RealSense D455
sensing · cameras · professional
Intel RealSense L515
sensing · cameras · professional
ROS supportCompatibility with ROS / ROS 2 ecosystem
Official Vendor ROS 2 WrapperOficjalny wrapper ROS 2 tworzony i utrzymywany przez producenta sprzętu lub oprogramowania
ROS 2 Bridge / AdapterMost lub adapter łączący oprogramowanie z ekosystemem ROS 2 bez natywnej integracji
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
PythonC++CUDA
Operating systems
Ubuntu 22.04Ubuntu 20.04Windows
Minimum hardware requirements
Minimum hardware requirements
CPUIntel Core i7 7th gen / AMD Ryzen 5 or newer (12+ threads recommended)
RAM (GB)32
GPUNVIDIA RTX 3070 / A4000 8 GB minimum; RTX 4090 / A6000 / L40S 24 GB+ recommended
Disk (GB)50
Requires NVIDIA driver 535+ and CUDA 12.x. No support for AMD or Intel GPUs.
Packaging & distribution
Package managers
Docker – NVIDIA NGC RegistryGitHub Releases / GitHub Actions ArtifactsPrebuilt Binary (direct download)
CPU architectures
x86_64 (AMD64)NVIDIA GPU (CUDA – x86_64)
Installation difficulty
LevelAdvanced
Protocols and interfaces
Communication protocols
DDS (Data Distribution Service)ROS 2 TopicsROS 2 ServicesROS 2 ActionsREST API (HTTP/HTTPS)WebSocket
Hardware interfaces
PCIe 4.0NVMe (M.2 PCIe SSD)Ethernet 10GBASE-T (10 Gigabit Ethernet)
Latency classes
Soft Real-Time (20–100 ms)Zmienna (workload-dependent)
Deployment types
Local WorkstationCloudContainerized
Supported simulators
NVIDIA Isaac Sim
NVIDIA Isaac Lab
Official Docker images
nvcr.io/nvidia/isaac-simnvcr.io/nvidia/isaac/rosnvcr.io/nvidia/isaac/ros:humble-isaac-ros-common
Licenses
LicenseRef-ProprietaryProprietary – All Rights Reserved
License family: Proprietary – Commercial
Version history
5.0Mar 2025
Cosmos/GR00T N1 compatibility, whole-body control, USD 25.05.
4.0May 2024
Full Isaac Lab 1.0 integration, humanoid support.
2023.1Aug 2023
OmniIsaacGymEnvs (Isaac Gym → Isaac Lab successor), RTX 4090 support.
2022.2Dec 2022
Action Graph, sim-ready USD assets for 25+ robots.
2021.1May 2021
Full ROS 2 Foxy support, Replicator for SDG.
2019.1 (Preview)Dec 2019
First public release on Omniverse Kit Beta.