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
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| unitree_model | Robot 3D models for different environments. Related xacro and urdf files could be found here . |
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| ROS1/ROS2 | unitree_ros ROS simulation package. It has urdf files of all Unitree series robots, contains information such as mass, inertia, moment, limit and so on. Newly support G1. |
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| unitree_ros2 Develop Go2 and B2 robots in the ros2 environment. The interface types provided are consistent with unitree_sdk2. |
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| unitree_mujoco | Use Mujoco as a simulator and has sim-to-real implementations, integrate with terrain generator. Support C++/Python interface. |
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| unitree_rl | unitree_rl_gym An Issac simulation example for reinforcement learning, supports Go2, H1, G1. |
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| unitree_rl_lab Reinforcement learning implementation for Unitree robots, based on IsaacLab. |
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| Manipulation | xr_teleoperate Use Apple Vision Pro to teleoperate Unitree G1, H1_2. |
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| kinect_teleoperate Use Azure Kinect DK camera to teleoperate Unitree H1. |
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| unitree_IL_lerobot Use G1 dual-arm dexterous hands for data collect, train and test, with modified LeRobot, an open-source training framework. |
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| unitree_sim_isaaclab Built on Isaac Lab to simulate Unitree robots in various tasks, facilitating data collection, playback, generation, and model validation. |
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| Robot SDK | unitree_legged_sdk An SDK package used to develop Aliengo, A1, Go1 and B1 robots in real environments. |
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| unitree_sdk2 An SDK package used to develop Go2, B2, H1, G1 robots in real environments. |
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| unitree_sdk2_python Python interface for unitree_sdk2. |
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| 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. |
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| 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. |
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