Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Unitree Python SDK2 (unitree_sdk2_python) is the official Python port of Unitree's C++ SDK. It exposes the same API: low-level (lowcmd_publisher, lowstate_subscriber), high-level (sport_client, ai_client), and helpers (utils.crc, utils.thread). Communication runs over CycloneDDS, just like the C++ version.
The Python API is particularly handy for RL policy prototyping: PyTorch or JAX can be attached to the robot's control loop quickly, data streamed into TensorBoard easily, and SciPy/NumPy used for sensor processing. The Python version is the standard in academia — used in Stanford HumanPlus, RoboCasa, and HumanoidGym.
The package is distributed through pip (`pip install unitree-sdk2-python`) and through GitHub. Internally it uses pybind11 to bridge the C++ libunitree. Requires Python 3.8+, runs on Linux x86-64 and ARM64 (Jetson). Updated in sync with the C++ SDK.
An SDK (Software Development Kit) is a curated set of libraries, interfaces, tools, sample code, and documentation intended for building applications and integrating with a specific hardware device, platform, or service. In robotics, an SDK typically exposes device control, telemetry, sensor access, configuration, and execution functions, significantly reducing the time-to-first-integration for developers targeting a specific robot or platform.
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.).
Stanford HumanPlus (humanoid imitation learning), RoboCasa, HumanoidGym, OpenAI Universe ports, the majority of humanoid RL master's theses in 2024-2025.
650★ on GitHub unitreerobotics/unitree_sdk2_python, ~6k monthly pip downloads, active thread on the Unitree Discord.
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.
Requires Python 3.8+ and pybind11. Internally builds libunitree_sdk2 from C++.
License family: Permissive
WBC bindings, PyTorch utility classes.
Sync with C++ SDK 2.0, G1 support.
H1 humanoid support.
First release of the Python port for Go2.
