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Unitree G1 humanoid robot standing on a patterned exhibition carpet, facing the camera, its face panel lit blue and the Unitree logo on its chest.
Unitree G1 at UAV Expo 2024. Photo: Sayanesy, CC0 1.0, via Wikimedia Commons1 / 1
Status: SHIPPING

Unitree G1

Unitree RoboticsHumanoid robotAnnounced

Unitree G1 is a humanoid robot from Unitree Robotics, introduced on 13 May 2024. It stands 1.32 m tall, weighs about 35 kg with its battery and has 23 joint degrees of freedom; the G1 EDU variant adds optional waist, wrist and Dex3-1 hand joints for up to 43. Unitree publishes a C++ and Python SDK, ROS 2 packages, URDF and MJCF models, and reinforcement-learning environments for Isaac Lab and MuJoCo. Secondary development is listed for G1 EDU only.

EDITORIALOverview reviewed against the cited sources by WBH, .

HEIGHT
1.32 m
WEIGHT
~35 kg
DOF
23–43
RUNTIME
~2 h
CompareSuggest an edit

Last verified11 sources

DATA · 37 FIELDS

Specifications

  • Official source
  • Community measured
  • Not published
PHYSICAL
Height1.32 mStanding; width 450 mm, thickness 200 mmOfficial source [1]
Folded dimensions690 × 450 × 300 mmHeight × width × thicknessOfficial source [1]
Weight~35 kgWith battery; G1 EDU is listed as “about 35 kg+”Official source [1]
Degrees of freedom23–4323 on G1; 23–43 on G1 EDU with optional waist, wrist and hand jointsOfficial source [1]
Leg DOF6 per legOfficial source [1]
Waist DOF1G1 EDU: 2 additional waist DOF optionalOfficial source [1]
Arm DOF5 per armOfficial source [1]
Calf + thigh length0.6 mOfficial source [1]
Arm span~0.45 mAs listed by UnitreeOfficial source [1]
LocomotionBipedalTwo legs, 6 DOF eachOfficial source [1]
Walking speedNot publishedNot published
Ingress protectionNot publishedNot published
JOINTS & ACTUATION
Joint motorsLow-inertia internal-rotor PMSMPermanent magnet synchronous motorsOfficial source [1]
Joint output bearingsCrossed roller bearingsIndustrial gradeOfficial source [1]
Joint encodersDual encoderOfficial source [1]
Max knee torque
  • 90 N·m · G1
  • 120 N·m · G1 EDU
Largest joint motor; other joints differ		Official source [1]
Knee range0–165°Official source [1]
Hip rangeP ±154° · R −30° to +170° · Y ±158°Official source [1]
Waist rangeZ ±155°G1 EDU adds X ±30° and Y ±30°Official source [1]
Wrist range
  • P ±92.5° · Y ±92.5° · G1 EDU
Official source [1]
Electrical routingHollow through all jointsOfficial source [1]
CoolingLocal air coolingOfficial source [1]
POWER
Battery13-string lithium, 9,000 mAhQuick-release smart batteryOfficial source [1]
Battery life~2 hOfficial source [1]
Charger54 V, 5 AOfficial source [1]
Charging timeNot publishedNot published
COMPUTE & SENSING
Compute8-core CPUG1 EDU: optional high-computing-power module; Unitree names Orin as an exampleOfficial source [1]
Perception sensorsDepth camera + 3D LiDAROfficial source [1]
Audio4-microphone array, 5 W speakerOfficial source [1]
ConnectivityWi-Fi 6, Bluetooth 5.2Official source [1]
OTA software updatesYesOfficial source [1]
HANDS & PAYLOAD
End effectorOptional Dex3-1 three-finger hand (G1 EDU)7 active DOF per hand (thumb 3, index 2, middle 2), optional tactile sensor arrays, +2 optional wrist DOF. No hand is listed for G1.Official source [1]
Arm payload
  • ~2 kg · G1
  • ~3 kg · G1 EDU
Maximum arm load; varies greatly with arm extension		Official source [1]
AVAILABILITY & PRICE
Indicative priceFrom US$13,500G1, excluding tax and shipping; G1 EDU price on requestOfficial source [1]
AvailabilityAvailable to orderListed with a price; independent teams used G1 hardware in 2025 competitionsOfficial source [1][2]
Secondary developmentG1 EDU onlyThe parameter table lists secondary development for G1 EDU, not for G1Official source [1]
Warranty
  • 8 months · G1
  • 18 months · G1 EDU
Official source [1]

DATA · SOFTWARE & SIMULATION

Unitree G1 SDK, ROS 2 and simulation

INTERFACESUPPORTPACKAGE / VERSIONSRC
SDKOfficialunitree_sdk2 2.0.2 (C++) · G1 examples · G1 EDU[1][3][4]
ROS 2Officialunitree_ros2 · Foxy, Humble[6]
Isaac Sim / LabOfficialunitree_rl_lab (Isaac Lab 2.3.0) · unitree_rl_gym (Isaac Gym)[9][10]
MuJoCoOfficialunitree_mujoco · MuJoCo Menagerie model[8][9][11]
GazeboNot publishedNo official G1 Gazebo launch files[7]
URDF / MJCFOfficialunitree_ros · g1_description (23- and 29-DOF models)[7]
LanguagesOfficialC++, Python[3][5]

Other humanoid robots with SDK, ROS 2, Isaac Sim or MuJoCo

IN SHORT

Unitree G1: quick answers

How tall is the Unitree G1?
1.32 m, as Unitree publishes it.
How much does the Unitree G1 weigh?
~35 kg, as Unitree publishes it.
How many degrees of freedom does the Unitree G1 have?
23–43, according to Unitree.
Does the Unitree G1 have an SDK?
Yes: Unitree publishes unitree_sdk2 2.0.2 (C++) · G1 examples · G1 EDU.
Does the Unitree G1 support ROS 2?
Yes: Unitree publishes unitree_ros2 · Foxy, Humble.

DATA · 19 COMPARISONS

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TIMELINE · 25 EVENTS SINCE 13 MAY 2024

Latest updates

Full timeline
  1. Unitree Robotics lists G1_Dex1_Arrange_Surgical_Kits dataset on Hugging FaceOPEN SOURCE · UNITREE ROBOTICS (HUGGING FACE) · OFFICIAL
  2. HLO-AMP: Hierarchical Loco-Manipulation from Object-Aware Motion PriorsRESEARCH · ARXIV
  3. FORGE: Feasible Online Reduced-Order Reference Generation and Whole-Body Execution for Agile Humanoid LocomotionRESEARCH · ARXIV
  4. Humanoids 2026 paper adopts stochastic motion tokenization for whole-body control on the Unitree G1RESEARCH · ARXIV
  5. HumanoidNDM: Closing the Training-Deployment Gap of Motion Tracking via Humanoid Neural Dynamics ModelRESEARCH · ARXIV
  6. SuperMimic: Scaling Humanoid Whole-Body Control with One Differentiable World ModelRESEARCH · ARXIV
  7. Isaac Lab 3.0 reaches general availability with Newton and kit-less workflowsRELEASE · GITHUB · OFFICIAL
  8. MuJoCo Menagerie adds an mjlab variant of the Unitree G1 modelDEVELOPMENT · GITHUB

COMMUNITY · 5 THREADS

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