Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Simulation · Simulation & Digital Twins
Gazebo Jetty (LTS)·Open Source Robotics Foundation
Gazebo Harmonic is the eighth distribution of the new-generation Gazebo simulator (previously known as Ignition Gazebo), released on 29 September 2023 by Open Robotics. It is a Long-Term Support (LTS) version with support scheduled until September 2028. Harmonic is a full successor to Gazebo Classic 11, with a fundamental architectural overhaul.
The new Gazebo architecture is built on modular gz-* libraries (gz-sim, gz-physics, gz-rendering, gz-sensors, gz-transport, gz-msgs), each with the option to swap backends independently. The default physics engine is DART (Dynamic Animation and Robotics Toolkit), with optional Bullet integration. Rendering is based on OGRE 2.3 with optional OptiX for ray tracing. Transport uses Cyclone DDS or Fast DDS — compatible with ROS 2 without additional bridges.
Harmonic introduces significantly improved sensors: cameras with RTX ray tracing, physically correct lighting models, GPU-accelerated LiDAR, fluid simulation, and full integration with ros_gz_bridge for ROS 2 Humble/Iron/Jazzy. Supports URDF, SDF 1.10, and import of MJCF (MuJoCo XML) models.
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.
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.
The standard simulator for ROS 2 Humble/Iron/Jazzy. AWS RoboMaker (cloud version). MoveIt 2 demos, Nav2 demos. PX4 SITL (Software-In-The-Loop) integration. Robots: Franka FR3, Boston Dynamics Spot model, Unitree Go2/G1, TurtleBot 4.
github.com/gazebosim/gz-sim 700★, gazebosim.org/community, Discord Gazebo Sim ~3.5k members, ROSCon every year 2–4 talks about Gazebo.
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.
Figure 03 is the third-generation humanoid robot from Figure AI, designed for Helix, home environments, and scalable mass production.
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.
Tutor Intelligence industrial robot designed for palletizing, depalletizing and case-picking in warehouses and factories, offered as Robotics-as-a-Service from $14/hr.
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.
Ubuntu 22.04 LTS recommended. LTS support until September 2028.
License family: Permissive
Latest LTS, valid until 2030.
Annual cycle, short-term release.
Current LTS standard — default for ROS 2 Jazzy.
Transitional release on the way to Harmonic.
LTS, dominant in 2022–2023, compatible with ROS 2 Humble.
First new-generation distribution (Ignition Citadel).
