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
Last verified18 sources
DATA · 27 FIELDS
Specifications
- Official source
- Community measured
- Not published
| Height | 1.23 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 EDU)Range as published; configuration-dependent | Official source [1] |
| Leg DOF | 6 per legSame for all three tiers | Official 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 AIR) · 2 (R1)Table shows '/' for R1 AIR | Official source [1] |
| Head DOF | None (R1 AIR) · 2 (R1)Headline copy: 'its 2-DOF head enhances environmental perception' | Official source [1] |
| Locomotion | BipedalTwo legs, 6 DOF each | Official source [1] |
| Walking speed | Not published | Not published |
| Ingress protection | Not published | Not published |
| Joint movement space | Knee -10°..+139°; Hip Y±157°/P-168..+146°/R-60..+100° | Official source [1] |
|---|---|---|
| Joint motor | Low inertia high-speed internal-rotor PMSM | Official source [1] |
| Joint output bearings | Crossed roller bearings, double hook ball bearings | Official source [1] |
| Electrical routing | Hollow + internal routing | Official source [1] |
| Max joint torque | Not 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 |
| Battery | Lithium battery, quick-releaseCapacity/voltage not published, unlike G1/H2 | Official source [1] |
|---|---|---|
| Battery life | ~1 hSame for all three tiers | Official source [1] |
| Charging time | Not published | Not published |
| Compute | 8-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] |
| Connectivity | Wi-Fi 6, Bluetooth 5.2Same for all three tiers | Official source [1] |
| 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] |
| Indicative price | US$4,900 (R1 AIR) · US$5,900 (R1) · Contact sales (R1 EDU)Tax and shipping excluded | Official source [1] |
|---|---|---|
| Availability | Available 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
Development
| INTERFACE | SUPPORT | PACKAGE / VERSION | SRC |
|---|---|---|---|
| SDK | Official | 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). | [4][5][6][7] |
| ROS 2 | Not published | unitree_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 / Lab | Not published | Unitree'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] |
| MuJoCo | Official | unitree_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] |
| Gazebo | Not published | r1_description contains only meshes and R1.urdf; no README or launch/ folder was found (unlike h1_description). | [9] |
| URDF / MJCF | Official | unitree_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] |
| Teleoperation | Official | xr_teleoperate v1.6 added R1 support (R1_A5, R1_A7 arm configurations) via the --arm option. | [17] |
| 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 r1. | [4][6][18] |
TIMELINE · 1 EVENT SINCE 25 JUL 2025