Unitree Robotics

Unitree Robotics is focusing on the R&D, production, and sales of consumer and industry-class high-performance general-purpose legged and humanoid robots, six-axis manipulators, and so on. We attaches great importance to independent research and development and technological innovation, fully self-researching key core robot components such as motors, reducers, controllers, LIDAR and high-performance perception and motion control algorithms, integrating the entire robotics industry chain.

Open source projects

Title	Description	Stars	Forks
AGI	unifolm-world-model-action UnifoLM-WMA-0 is Unitree‘s open-source world-model–action architecture spanning multiple types of robotic embodiments, designed specifically for general-purpose robot learning.
	unifolm-vla UnifoLM-VLA-0 is a Vision–Language–Action (VLA) large model in the UnifoLM series, designed for general-purpose humanoid robot manipulation.
Locomotion	unitree_rl_gym An Issac simulation example for reinforcement learning, supports Go2, H1, G1.
	unitree_rl_lab Reinforcement learning implementation for Unitree robots, based on IsaacLab. Supports Tasks: Velocity: (Go2, H1, G1-29dof) Mimic: (G1-29dof)
	unitree_rl_mjlab Reinforcement learning implementation for Unitree robots, based on Mujoco.
	unitree_mujoco Use Mujoco as a simulator and has sim-to-real implementations, integrate with terrain generator. Support C++/Python interface.
Manipulation	xr_teleoperate Teleoperate Unitree robots( H2, H1, H1_2, G1, R1) via XR devices (Apple Vision Pro, PICO, Quest) with integrated data recording.
	unitree_lerobot For Unitree robots (H1, H1_2, G1), this framework provides an end-to-end embodied AI solution, seamlessly integrating standardized data conversion, LeRobot policy training and inference, and closed-loop real-world deployment.
	unitree_sim_isaaclab Supporting Unitree robots (H1_2, G1), this high-fidelity simulation platform based on Isaac Lab employs the same DDS communication interface as the physical robots.
	teleimager An image server that captures video streams from multiple cameras (UVC, OpenCV, and RealSense) and publishes them over the network using ZeroMQ or WebRTC.
UniStore	unitree-app-templates This repository provides an out-of-the-box development environment to help developers quickly get started with building applications for Unitree robots.
Robot SDK	unitree_sdk2 An SDK package used to develop Go2, B2, H1, G1, H2, R1, A2 robots in real environments.
	unitree_sdk2_python Python interface for unitree_sdk2.
	unitree_legged_sdk An SDK package used to develop Aliengo, A1, Go1 and B1 robots in real environments.
URDF	Humanoid Robots: R1, R1 Air, R1 A5, R1 A7, H2, H2 Plus, G1-D, G1, G1 with Brainco Hand, H1-2, H1 Quadruped Robots: As2, A2, Go2, Go2-W, Go1, B2-W, B2, B1, A1, AlienGo, Laikago Dexterous Hands: Dex1-1, Dex2/5, Dex3-1, Dex5-1 Robotic Arms: Z1, AlienGo with Z1
USD	USD for robots: H2_Plus, H2, G1, B2, H1, Go2, etc.
ROS1/ROS2	unitree_ros ROS1 simulation package. It has urdf files of all Unitree series robots.
	unitree_ros2 Develop Go2 and B2 robots in the ROS2 environment. The interface types provided are consistent with unitree_sdk2.
unitree_guide	An instance control algorithm by book "Quadruped Robot Control Algorithm--Modeling, Control and Practice" published by Unitree. It demonstrates the robot joint motor control method, simple foot movements, and force control algorithm. Both simulation and real robot development environments supports.
point_lio_unilidar	This repository adapts the state-of-the-art lidar inertial odometry algorithm, Point-LIO, for use Unitree 4D Lidar L1. It can complete SLAM using only its piontcloud and built-in IMU.
DIY	Qmini A fully open-sourced, low-cost bipedal robot that can be entirely 3D printed by individual users.
	UniArmL1 UniArmL1 is a lightweight, open-source 6-DOF robotic arm and teleoperation framework that supports three control modes and standardized data acquisition. The acquired data can be seamlessly integrated with unitree_lerobot for imitation learning training and deployment.