How tall is the Unitree H1?

≈1.78–1.8 m, as Unitree publishes it.

How much does the Unitree H1 weigh?

≈47–70 kg, as Unitree publishes it.

Does the Unitree H1 have an SDK?

Yes: Unitree publishes unitree_sdk2 (C++, latest release v2.0.2): example/h1 (high_level, low_level: h1_27dof_example.cpp for H1, h1_2_ankle_track.cpp for H1-2's parallel-ankle PR mode). unitree_sdk2_python: example/h1 (high_level, low_level) and example/h1_2/low_level..

Does the Unitree H1 support ROS 2?

Yes: Unitree publishes unitree_ros2: DDS-based low-level control confirmed for H1 in the top-level README; example tree has a dedicated h1-2 low-level example and shared read_low_state_hg example for G1/H1/H1-2..

Unitree · CN

Humanoid robot

Photograph: None licensed yet
Model: H1

No licensed photograph of this robot yet.1 / 1

SHIPPING

Unitree H1

Unitree RoboticsHumanoid robotAnnounced 15 AUG 2023

Unitree H1 is a humanoid robot from Unitree Robotics, officially released on 15 August 2023 as the company's first full-size general-purpose humanoid. It stands about 180 cm tall and weighs about 47 kg, with 5 leg-joint DOF per leg and 4 (expandable) arm-joint DOF per arm, a maximum knee torque of about 360 N·m, and a published moving speed of 3.3 m/s (described by Unitree as a world record) with potential mobility above 5 m/s. H1-2 is a higher-DOF variant on the same product page: about 178 cm tall, about 70 kg, 27 total degrees of freedom (6 leg DOF and 7 arm DOF per side), an optional Dex5-1 dexterous hand, and a published moving speed under 2 m/s. Unitree publishes a C++ and Python SDK, ROS 2 packages, Gazebo and MuJoCo simulation models, and Isaac Gym/Isaac Lab reinforcement-learning environments naming H1 and H1-2 explicitly, plus a teleoperation and imitation-learning data-collection toolkit (xr_teleoperate) supporting both.

EDITORIALOverview reviewed against the cited sources by WBH, 29 SEP 2026.

HEIGHT: ~1.8 mH1, standing
WEIGHT: ~47 kgH1
DOF: 27H1-2
PAYLOAD: ~21 kg peakH1-2, arm peak

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Last verified28 SEP 202627 sources

DATA · 26 FIELDS

Specifications

Official source
Community measured
Not published

PHYSICAL
Height	~1.8 m · H1Published as 'about 180CM' ~1.78 m · H1-2Published as 'about 178CM'	Official source [1]
Key dimensions	(1520+285) mm × 570 mm × 220 mm · H1Published as-is in the parameter table; Unitree does not label what the two summed figures represent. (1503+285) mm × 510 mm × 287 mm · H1-2Published as-is in the parameter table.	Official source [1]
Weight	~47 kg · H1 ~70 kg · H1-2	Official source [1]
Degrees of freedom	Not published · H1Only per-limb DOF are published for base H1 (5 per leg, 4 per arm, expandable); no total DOF figure is given, unlike H1-2. 27 · H1-2	Official source [1]
Leg DOF	5 per leg · H1Hip × 3, Knee × 1, Ankle × 1 6 per leg · H1-2Hip x 3, Knee x 1, Ankle x 2	Official source [1]
Arm DOF	4 per arm (expandable) · H1 7 per arm · H1-2Shoulder x 3, Elbow x 1, Wrist x 3	Official source [1]
Locomotion	BipedalTwo legs, each with hip/knee/ankle joints	Official source [1]
Walking speed	3.3 m/s (published as a world record) · H1Published as a world record on the parameter table. A 2026 timeline entry reports a 10 m/s running record (see discrepancies). < 2 m/s · H1-2Upper bound only, as published	Official source [1]
Ingress protection	Not published	Not published

JOINTS & ACTUATION
Max joint torque	360 N·m (knee) · H1Also published: Hip Joint ~220 N·m, Ankle ~59 N·m, Arm Joint ~75 N·m 360 N·m (knee) · H1-2Also published: Hip Joint ~220 N·m, Waist ~220 N·m, Ankle ~75×2 N·m; headline also lists Maximum Torque of Leg Joint 360N.m	Official source [1]
Arm joint torque (peak)	Not published · H1Table shows '/' for H1 under 'Arm joint performance (peak torque)' Shoulder ~120 N·m; Elbow ~120 N·m; Wrist ~30 N·m · H1-2Headline also lists Maximum Torque of Arm Joint 120N.m	Official source [1]
Joint actuator (M107)	Unitree M107 joint motor (360 N·m, 1.9 kg, ratio 189)Unitree compares M107 against two third-party motors (T-1, T-2) in the same table on the H1 page.	Official source [1]
Joint motor	Low inertia high-speed internal-rotor PMSMPermanent magnet synchronous motor	Official source [1]
Joint output bearings	Industrial grade crossed roller bearingsHigh precision, high load capacity	Official source [1]

POWER
Battery	15 Ah (0.864 kWh), quick-releaseSame value published for H1 and H1-2	Official source [1]
Battery life	Not publishedUnlike G1/H2/R1, the H1 page does not state a battery-life figure in hours.	Not published
Charging time	Not published	Not published

COMPUTE & SENSING
Compute	Intel Core i5/i7; optional Orin NX · H1 Intel Core i5/i7; optional Orin NX (up to 3 devices) · H1-2	Official source [1]
Perception sensors	3D LiDAR + Depth CameraSame for H1 and H1-2	Official source [1]
Connectivity	Not publishedUnlike the G1, H2 and R1 parameter tables, the H1/H1-2 table has no WiFi/Bluetooth row.	Not published

HANDS & PAYLOAD
End effector	Optional dexterous hand · H1 Optional Dex5-1 or other ambidextrous hands · H1-2	Official source [1]
Arm payload	Not published · H1Table shows '/' for H1 under 'Arm normal load' ~21 kg peak · H1-2Rated: ~7 kg	Official source [1]

AVAILABILITY & PRICE
Indicative price	Not publishedNo price is shown on the H1 product page or the order form, unlike G1 ($13.5K), H2 ($29,900) and R1 ($4,900+).	Not published
Availability	Available to order (contact sales)The order form routes industry purchases to a sales contact rather than showing a price or buy button for H1/H1-2.	Official source [2][3]
Warranty	Not publishedUnlike G1/H2/R1, the H1 page has no Warranty Period row.	Not published
Secondary development	Not publishedUnlike G1/H2/R1, the H1 page has no Secondary Development row (an official SDK and ROS 2 support exist regardless; see software).	Not published

DATA · SOFTWARE & SIMULATION

Unitree H1 SDK, ROS 2, URDF and simulation

INTERFACE	SUPPORT	PACKAGE / VERSION	SRC
SDK	Official	unitree_sdk2 (C++, latest release v2.0.2): example/h1 (high_level, low_level: h1_27dof_example.cpp for H1, h1_2_ankle_track.cpp for H1-2's parallel-ankle PR mode). unitree_sdk2_python: example/h1 (high_level, low_level) and example/h1_2/low_level.	[4][5][6][7][8]
ROS 2	Official	unitree_ros2: DDS-based low-level control confirmed for H1 in the top-level README; example tree has a dedicated h1-2 low-level example and shared read_low_state_hg example for G1/H1/H1-2.	[9][10]
Isaac Sim / Lab	Official	unitree_rl_lab (Isaac Lab 2.3.0 / Isaac Sim 5.1.0): dedicated h1 locomotion task folder, official support statement names Go2, H1 and G1-29dof. unitree_rl_gym (Isaac Gym): h1 and h1_2 tasks, with Sim2Sim/Sim2Real deployment. NVIDIA's own Isaac Lab (third-party) additionally ships public Isaac-Velocity-Flat/Rough-H1-v0 environments and an H1_CFG asset.	[19][20][21][22][23]
MuJoCo	Official	unitree_mujoco ships MJCF for both h1 and h1_2 (with DDS idl notes: H1 uses unitree_go, H1-2 uses unitree_hg); unitree_rl_gym documents Sim2Sim (MuJoCo) for h1 and h1_2. MuJoCo Menagerie (third-party, Google DeepMind) additionally provides a derived 19-joint H1 model under BSD-3-Clause.	[15][16][18][19][24]
Gazebo	Official	h1_description ships a gazebo.launch file (H1 only); no Gazebo launch files are listed for h1_2_description.	[11]
URDF / MJCF	Official	unitree_ros: h1_description (h1.urdf, h1_with_hand.urdf, MJCF) and h1_2_description (h1_2.urdf, h1_2_handless.urdf, h1_2_with_FTP_hand.urdf, MJCF).	[11][12][13]
Teleoperation	Official	xr_teleoperate: --arm supports H1 (4-DoF arm) and H1_2 (7-DoF arm); records episodes for imitation learning.	[26]
Languages	Official	C++ and Python (unitree_sdk2, unitree_sdk2_python). unitree_sdk2_rs (same GitHub org, v0.3.0) additionally lists Rust RPC clients per model including h1.	[4][7][27]

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

IN SHORT

Unitree H1: quick answers

How tall is the Unitree H1?: ≈1.78–1.8 m, as Unitree publishes it.
How much does the Unitree H1 weigh?: ≈47–70 kg, as Unitree publishes it.
How many degrees of freedom does the Unitree H1 have?: 27, according to Unitree.
Does the Unitree H1 have an SDK?: Yes: Unitree publishes unitree_sdk2 (C++, latest release v2.0.2): example/h1 (high_level, low_level: h1_27dof_example.cpp for H1, h1_2_ankle_track.cpp for H1-2's parallel-ankle PR mode). unitree_sdk2_python: example/h1 (high_level, low_level) and example/h1_2/low_level..
Does the Unitree H1 support ROS 2?: Yes: Unitree publishes unitree_ros2: DDS-based low-level control confirmed for H1 in the top-level README; example tree has a dedicated h1-2 low-level example and shared read_low_state_hg example for G1/H1/H1-2..

DATA · 7 COMPARISONS

Compare Unitree H1

All comparisons

7 SPECIFICATIONS
AGIBOT A2 (A2 Ultra / A2 Lite) vs Unitree H1
AGIBOT A2 (A2 Ultra / A2 and H1 compared: height, weight, degrees of freedom, walking speed and more, as their makers publish them.
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AGIBOT A3 Ultra vs Unitree H1
AGIBOT A3 Ultra and H1 compared: height, weight, degrees of freedom, arm payload and more, as their makers publish them.
6 SPECIFICATIONS
AGIBOT X2 vs Unitree H1
X2 and H1 compared: height, weight, degrees of freedom, walking speed and more, as their makers publish them.
7 SPECIFICATIONS
NEO vs Unitree H1
NEO and H1 compared: height, weight, degrees of freedom, walking speed and more, as their makers publish them.
6 SPECIFICATIONS
Unitree G1 vs Unitree H1
G1 and H1 compared: height, weight, degrees of freedom, arm payload and more, as their makers publish them.
6 SPECIFICATIONS
Unitree H1 vs Unitree H2
H1 and H2 compared: height, weight, degrees of freedom, arm payload and more, as their makers publish them.
6 SPECIFICATIONS
Unitree H1 vs Unitree R1
H1 and R1 compared: height, weight, degrees of freedom, arm payload and more, as their makers publish them.

DATA · 6 ROBOTS

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Compare the Unitree H1 with the closest three side by side

TIMELINE · 1 EVENT SINCE 15 AUG 2023

Latest updates

Full timeline

04 SEP 2026unitree_sdk2_rs 0.3.0 adds Rust RPC clients for eight Unitree robotsRELEASE · GITHUB · OFFICIAL

COMMUNITY · 0 THREADS

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