Unitree G1-D
Unitree RoboticsHumanoid robot
Unitree presents G1-D as an end-to-end platform for humanoid robot data and training. The page lists two versions, Standard and Ultimate, each weighing approximately 90 kg including battery. Total degrees of freedom, excluding the end effector, are 17 for the Standard and 19 for the Ultimate. Each arm has 7 degrees of freedom, the waist has 2, and the maximum single-arm payload is approximately 3 kg, which Unitree notes varies greatly with arm extension posture.
For the Ultimate, Unitree lists a differential-drive chassis that supports 360° in-place rotation and a maximum speed of 1.5 m/s. Its chassis sensors are one LiDAR, two depth cameras, two physical collision sensors and two low-obstacle detection sensors. Battery life is approximately 2 hours for the Standard and approximately 6 hours for the Ultimate. The batteries are a 9 Ah quick-release upper-body battery and a 30 Ah built-in chassis battery. Extra computing power is an accessory, with modules such as the Orin NX 16GB (100TOPS) available.
The software side covers a data acquisition pipeline from task creation to export, distributed training and deployment with integration of open-source models such as PI and GROOT, and a simulation environment for evaluation. Unitree also describes UnifoLM-WMA-0, its open-source world-model-action architecture. The page adds that some sample functions are still being developed and tested.
EDITORIALOverview reviewed against the cited sources by WBH, .
Last verified1 source
DATA · 14 FIELDS
Specifications
- Official source
- Community measured
- Not published
| Weight | Approx. 90kg | Official source [1] |
|---|---|---|
| Degrees of freedom | 17 (excl. end effector) (Standard) · 19 (excl. end effector) (Ultimate) | Official source [1] |
| Height | Not published | Not published |
| Locomotion | Not published | Not published |
| Arm DoF | 7 | Official source [1] |
|---|---|---|
| Waist DoF | 2 | Official source [1] |
| Battery | Upper body battery (quick-release): 9Ah; chassis battery (built-in): 30Ah | Official source [1] |
|---|---|---|
| Runtime | Approx. 2 hours (Standard) · Approx. 6 hours (Ultimate) | Official source [1] |
| Compute | Not published | Not published |
|---|---|---|
| Perception sensors | Not published | Not published |
| Arm payload | Approx. 3kg | Official source [1] |
|---|---|---|
| End effector | Not published | Not published |
| Indicative price | Not published | Not published |
|---|---|---|
| Availability | Not published | Not published |
DATA · SOFTWARE & SIMULATION
Development
| INTERFACE | SUPPORT | PACKAGE / VERSION | SRC |
|---|---|---|---|
| SDK | Not published | ||
| ROS 2 | Not published | ||
| NVIDIA Isaac Sim / Isaac Lab | Not published | ||
| MuJoCo | Not published | ||
| Gazebo | Not published | ||
| Robot description (URDF/MJCF) | Not published | ||
| Programming languages | Not published | ||
| Teleoperation | Not published |
COMMUNITY · 0 THREADS
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