Skip to content
WE BUILDHUMANOIDS

Unitree · CN

R1

Humanoid robot

Photograph
None licensed yet
Model
R1
No licensed photograph of this robot yet.1 / 1
Status: SHIPPING

Unitree R1

Unitree RoboticsHumanoid robotAnnounced

Unitree R1 is a humanoid robot from Unitree Robotics, released on 25 July 2025 as a smaller, lower-cost addition to its humanoid line. Unitree describes it as agile and ultra-lightweight, at up to 1.23 m tall (Height, Width, Thickness (Stand): 1230x357x190mm for all tiers). The entry tier, R1 AIR, weighs about 27 kg with 20 total degrees of freedom and no waist or head joints; the R1 and R1 EDU tiers weigh about 29 kg with 26 (R1) to 26-40 (R1 EDU) total degrees of freedom, adding 2 waist and 2 head DOF; R1 EDU further adds an optional dexterous hand and secondary-development access. Unitree publishes a C++ and Python SDK with R1-specific examples, URDF/MJCF robot descriptions, and teleoperation support (xr_teleoperate, R1_A5/R1_A7 arm configurations), though unlike H1/H1-2, G1 and H2 it does not ship an R1 ROS 2 example or an R1 Isaac Gym/Isaac Lab reinforcement-learning environment.

EDITORIALOverview reviewed against the cited sources by WBH, .

HEIGHT
1.23 m
WEIGHT
~27 kg
DOF
26
RUNTIME
~1 h
CompareSuggest an edit

Last verified18 sources

DATA · 27 FIELDS

Specifications

  • Official source
  • Community measured
  • Not published
PHYSICAL
Height1.23 mSame for all three tiers; headline copy says '≤123cm agile form'Official source [1]
Weight
  • ~27 kg · R1 AIR
  • ~29 kg · R1
  • ~29 kg · R1 EDU
Official source [1]
Degrees of freedom
  • 20 · R1 AIR
  • 26 · R1
  • 26-40 · R1 EDURange as published; configuration-dependent
Official source [1]
Leg DOF6 per legSame for all three tiersOfficial source [1]
Arm DOF
  • 4 per arm · R1 AIR
  • 5 per arm · R1
  • 5 per arm · R1 EDU
Official source [1]
Waist DOF
  • None · R1 AIRTable shows '/' for R1 AIR
  • 2 · R1
Official source [1]
Head DOF
  • None · R1 AIR
  • 2 · R1Headline copy: 'its 2-DOF head enhances environmental perception'
Official source [1]
LocomotionBipedalTwo legs, 6 DOF eachOfficial source [1]
Walking speedNot publishedNot published
Ingress protectionNot publishedNot published
JOINTS & ACTUATION
Joint movement spaceKnee -10°..+139°; Hip Y±157°/P-168..+146°/R-60..+100°Official source [1]
Joint motorLow inertia high-speed internal-rotor PMSMOfficial source [1]
Joint output bearingsCrossed roller bearings, double hook ball bearingsOfficial source [1]
Electrical routingHollow + internal routingOfficial source [1]
Max joint torqueNot publishedThe table row labelled 'Maximum Torque of Arm Joint【1】' actually reports a kilogram figure ('About 2kg') and footnote [1] describes an arm-load caveat, not a torque; recorded instead as arm-payload (see hands-payload). No N·m torque figure is published for R1.Not published
POWER
BatteryLithium battery, quick-releaseCapacity/voltage not published, unlike G1/H2Official source [1]
Battery life~1 hSame for all three tiersOfficial source [1]
Charging timeNot publishedNot published
COMPUTE & SENSING
Compute8-core processor; R1 EDU optional Orin (40-100 TOPS)Official source [1]
Perception sensors
  • Monocular camera, 4-mic array · R1 AIR
  • Binocular camera, 4-mic array · R1
Official source [1]
ConnectivityWi-Fi 6, Bluetooth 5.2Same for all three tiersOfficial source [1]
HANDS & PAYLOAD
End effector
  • Optional dexterous hand · R1 EDU
Table shows '/' for R1 AIR and R1 (no hand)		Official source [1]
Arm payload~2 kgPublished under a table row labelled 'Maximum Torque of Arm Joint【1】', but the value and footnote both describe an arm load, not a torque; same figure for all three tiers. Varies with arm extension per footnote [1].Official source [1]
AVAILABILITY & PRICE
Indicative price
  • US$4,900 · R1 AIRTax and shipping excluded
  • US$5,900 · R1Tax and shipping excluded
  • Contact sales · R1 EDU
Official source [1]
AvailabilityAvailable to order (R1 AIR / R1); contact sales (R1 EDU)Official source [1][2]
Secondary development
  • R1 EDU only · R1 EDU
Table shows '/' for R1 AIR and R1		Official source [1]
Warranty
  • 6 months · R1 AIR
  • 8 months · R1
  • 12 months · R1 EDU
Official source [1]

DATA · SOFTWARE & SIMULATION

Unitree R1 SDK, URDF and simulation

INTERFACESUPPORTPACKAGE / VERSIONSRC
SDKOfficialunitree_sdk2 (C++, latest release v2.0.2): example/r1 (audio, high_level, low_level: r1_A5_wrist_swing_example.cpp, r1_A7_wrist_swing_example.cpp, r1_ankle_swing_example.cpp). unitree_sdk2_python: example/r1 (high_level, low_level: r1_A5_low_level_example, r1_A7_low_level_example).[4][5][6][7]
ROS 2Not publishedunitree_ros2's example/src/src tree lists b2, b2w, g1, go2, h1-2 and h2 folders; no r1 folder or R1-specific example was found.[8]
Isaac Sim / LabNot publishedUnitree's own unitree_rl_gym ('supporting Unitree Go2, H1, H1_2, and G1') and unitree_rl_lab ('Go2, H1 and G1-29dof') do not name R1.[15][16]
MuJoCoOfficialunitree_mujoco ships an r1/ MJCF folder (R1_C++.xml, scene.xml) even though it is not named in the repo's own config-file robot list.[13][14]
GazeboNot publishedr1_description contains only meshes and R1.urdf; no README or launch/ folder was found (unlike h1_description).[9]
URDF / MJCFOfficialunitree_ros: r1_description (R1.urdf), r1_air_description (R1_AIR.urdf), plus r1_a5_description (r1_a5.urdf, 5-DOF arm) and r1_a7_description (r1_a7.urdf, 7-DOF arm).[9][10][11][12]
TeleoperationOfficialxr_teleoperate v1.6 added R1 support (R1_A5, R1_A7 arm configurations) via the --arm option.[17]
LanguagesOfficialC++ and Python (unitree_sdk2, unitree_sdk2_python). unitree_sdk2_rs (same GitHub org, v0.3.0) additionally lists Rust RPC clients per model including r1.[4][6][18]

Other humanoid robots with SDK, URDF or MuJoCo

IN SHORT

Unitree R1: quick answers

How tall is the Unitree R1?
1.23 m, as Unitree publishes it.
How much does the Unitree R1 weigh?
≈27–29 kg, as Unitree publishes it.
How many degrees of freedom does the Unitree R1 have?
20–40, according to Unitree.
Does the Unitree R1 have an SDK?
Yes: Unitree publishes unitree_sdk2 (C++, latest release v2.0.2): example/r1 (audio, high_level, low_level: r1_A5_wrist_swing_example.cpp, r1_A7_wrist_swing_example.cpp, r1_ankle_swing_example.cpp). unitree_sdk2_python: example/r1 (high_level, low_level: r1_A5_low_level_example, r1_A7_low_level_example)..

DATA · 18 COMPARISONS

Compare Unitree R1

All comparisons

  • 7 SPECIFICATIONS

    AGIBOT A2 (A2 Ultra / A2 Lite) vs Unitree R1

    AGIBOT A2 (A2 Ultra / A2 and R1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 6 SPECIFICATIONS

    AGIBOT A3 Ultra vs Unitree R1

    AGIBOT A3 Ultra and R1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 4 SPECIFICATIONS

    AGIBOT A3 vs Unitree R1

    AGIBOT A3 and R1 compared: height, weight, runtime, battery and more, as their makers publish them.

  • 6 SPECIFICATIONS

    AGIBOT X2 vs Unitree R1

    X2 and R1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 5 SPECIFICATIONS

    Agility Digit 5 vs Unitree R1

    Digit 5 and R1 compared: height, weight, runtime, battery and more, as their makers publish them.

  • 6 SPECIFICATIONS

    Booster T1 vs Unitree R1

    T1 and R1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 5 SPECIFICATIONS

    EngineAI T800 vs Unitree R1

    EngineAI T800 and R1 compared: height, weight, degrees of freedom, battery life and more, as their makers publish them.

  • 4 SPECIFICATIONS

    Figure 03 vs Unitree R1

    Figure 03 and R1 compared: height, weight, runtime, battery and more, as their makers publish them.

  • 7 SPECIFICATIONS

    LimX Luna vs Unitree R1

    LimX Luna and R1 compared: height, weight, active dof, runtime and more, as their makers publish them.

  • 7 SPECIFICATIONS

    LimX Oli vs Unitree R1

    LimX Oli and R1 compared: height, weight, active dof, runtime and more, as their makers publish them.

  • 7 SPECIFICATIONS

    NEO vs Unitree R1

    NEO and R1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 7 SPECIFICATIONS

    PAL Robotics KANGAROO vs Unitree R1

    KANGAROO and R1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 7 SPECIFICATIONS

    PAL Robotics TALOS vs Unitree R1

    TALOS and R1 compared: height, weight, degrees of freedom, runtime and more, as their makers publish them.

  • 6 SPECIFICATIONS

    ROBOTERA L7 vs Unitree R1

    ROBOTERA L7 and R1 compared: height, weight, degrees of freedom, arm payload and more, as their makers publish them.

  • 7 SPECIFICATIONS

    Unitree G1 vs Unitree R1

    G1 and R1 compared: height, weight, degrees of freedom, battery life and more, as their makers publish them.

  • 6 SPECIFICATIONS

    Unitree G1-Comp vs Unitree R1

    Unitree G1-Comp and R1 compared: height, weight, degrees of freedom, runtime 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.

  • 7 SPECIFICATIONS

    Unitree H2 vs Unitree R1

    H2 and R1 compared: height, weight, degrees of freedom, battery life and more, as their makers publish them.

DATA · 6 ROBOTS

Robots similar to the Unitree R1

Compare the Unitree R1 with the closest three side by side

See also commercially available humanoid robots.

TIMELINE · 2 EVENTS SINCE 25 JUL 2025

Latest updates

Full timeline
  1. Unitree lists R1_Dex1_Fold_Towel video dataset on Hugging FaceOPEN SOURCE · UNITREE ROBOTICS (HUGGING FACE) · OFFICIAL
  2. unitree_sdk2_rs 0.3.0 adds Rust RPC clients for eight Unitree robotsRELEASE · GITHUB · OFFICIAL

COMMUNITY · 0 THREADS

Discussions about Unitree R1

Ask about R1

No community threads about Unitree R1 yet. Own one, develop for one or evaluating it? Ask a question or share what you learned: it will appear here.

Community posts are written by members and are not checked by WBH. Facts on robot pages come from cited sources; report a data error to have it corrected.