Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Development · SDKs
2.5.0·
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.).
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.
Device Integration denotes the role of software responsible for communication, configuration, initialization and handling of specific devices, sensors, controllers or hardware components within a robotic system.
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.
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).
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.
