Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Unitree SDK2 (unitree_sdk2) is the official second-generation SDK provided by Unitree Robotics for the entire current robot line: Go2 (quadruped), B2 (industrial quadruped), H1 (humanoid), G1 (humanoid). The SDK architecture is built on CycloneDDS as the transport layer, with a clear split into topics (`rt/lowstate`, `rt/lowcmd`, `rt/wirelesscontroller`) and services.
The SDK enables low-level control (joint torque, joint angle commands, IMU readout, foot force) and high-level control (sport_client API: walk, jump, stand, sit). Built-in examples cover RL policy training (sim2real), Whole Body Control (WBC), and communication with Unitree apps (phone, gamepad).
The github.com/unitreerobotics/unitree_sdk2 repository provides open-source code under BSD-3. A 1 Gbps Ethernet card is required to connect to the robot (cable or WiFi through a router). The SDK has been actively developed since 2023 and is the foundation for the ROS 2 stack (unitree_ros2) and wrappers to MuJoCo, Isaac Lab, and Isaac Sim.
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.).
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.
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.
Unitree Go2 Edu/Pro/Air, Unitree B2/B2-W, Unitree H1 (Stanford HumanPlus benchmark), Unitree G1 (the most popular humanoid in R&D 2025).
1.1k★ on GitHub unitreerobotics/unitree_sdk2, official Unitree Discord with 8k+ members, 200+ research forks.
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 a 1 Gbps Ethernet card. Cyclone DDS and Boost ≥ 1.71 as dependencies.
License family: Permissive
WBC API, sport_client improvements, RL policy bindings.
Full rewrite on CycloneDDS, G1 support.
Unitree H1 humanoid support.
First release for Go2.
