Official Open Source

Unitree manipulation datasets

Unitree Robotics open sources embodied AI models and datasets. The datasets include the G1 dexterity hand manipulation dataset, the G1 gripper manipulation dataset, and the Z1 dual-arm manipulation dataset; the models include trained mainstream imitation learning models (such as DP, ACT, etc.).

unitree_IL_lerobot

Unitree_il_lerobot is an open-source embodied intelligence/imitation learning framework based on LeRobot, developed by Unitree. It supports mainstream imitation learning algorithms (DP, ACT, etc.) and is adapted for Unitree's humanoid robot G1, robotic arm Z1, and dexterous hand Dex3 hardware. This framework has supported a complete process based on Unitree robots, including data collection, algorithm development, model training, and real machine deployment testing.

Kinect Camera Teleoperation

A sample program for the dual-arm teleoperation of the humanoid robot H1 based on the Azure Kinect DK depth camera. The program implements the remote control function of the H1 robot"s dual arms.

unitree_mujoco

unitree_mujoco is a simulator developed based on Unitree sdk2 and mujoco. Users can easily integrate the control programs developed with Unitree_sdk2, unitree_ros2, and unitree_sdk2_python into this simulator, enabling a seamless transition from simulation to physical development.

Apple Vision Pro Teleoperation

This example introduces information about the avp_teleoperate repository for teleoperation of the humanoid robot Unitree H1_2 using Apple Vision Pro.

Go2 RL routine

A simple example of reinforcement learning controlling Go2.

H1 RL routine

A simple example of reinforcement learning controlling H1.

unitree_ros

unitree_ros is a ROS simulation package for Unitree robots. It contains the urdf files of all Unitree robots. You can obtain information such as the mass inertia moment limit of the Unitree robot through this package. At the same time, the unitree_controller and unitree_gazebo packages allow you to quickly Build the simulation verification program in the Gazebo simulator.

unitree_legged_sdk

unitree_legged_sdk is an SDK package used to develop Aliengo, A1, and Go1 robots in real environments. You can control the movement of a single joint of the robot based on the low-level development interface, or you can control the robot to move at a specific speed based on the high-level development interface.

unitree_guide

unitree_guide is a supporting open source control algorithm project for <<Quadruped Robot Control Algorithm--Modeling, Control and Practice>> published by Yushu. Through this package, you can learn the robot joint motor control method, and also learn simple foot movements. Type robot force control algorithm. This project is configured with both simulation and real robot development environments, and you can switch between the two with a simple one or two commands to help users quickly verify the algorithm.

unitree_sdk2

unitree_sdk2 is an SDK package used to develop Go2, B2, and H1 robots in real environments. Its functional positioning is similar to the unitree_legged_sdk package.

unitree_ros2

unitree_ros2 is a function package used to develop Go2 and B2 robots in the ros2 environment. The interface types provided are consistent with unitree_sdk2.

Motor SDK

Unitree encapsulates the motor communication protocol into SDK. Using this SDK for development can reduce the docking cost of using the motor protocol.

Unitree 4D Lidar L1 SDK

Unitree 4D Lidar L1 secondary development SDK.

Unitree 4D Lidar L1 Open Source SLAM

This repository adapts the state-of-the-art lidar inertial odometry algorithm, Point-LIO, for use Unitree 4D Lidar L1. It can complete SLAM using only its piontcloud and built-in IMU.

z1_controller

z1_controller is used to connect with the Z1 robotic arm and provides a z1_sdk calling interface. Users must run z1_controller separately when using z1_sdk.

z1_sdk

z1_sdk is the SDK package used to control the z1 robotic arm, including cpp and python interfaces. Users can use the low-level mode to directly control each joint individually, or they can use high-level control to perform point-to-point motion.

z1_ros

z1_ros is a ros simulation package for the z1 robotic arm, including support for ROS control and Moveit.

z1_joystick

z1_joystick is a routine that uses B1's remote control to control the Z1 robotic arm when z1 is mounted on the B1 robot dog. Users can also refer to this warehouse and use their own remote control to control the Z1 robotic arm.

go1 Camera SDK routines

GO1 robot camera SDK.