Unitree Robotics
Open Source Ecosystem.
15+ open source repos covering AGI, Locomotion, Manipulation, SDK, ROS and simulation tools. A comprehensive developer ecosystem supporting all Unitree robot series.
15+
Open Source Repos
20+
Robot Models
8+
Years on GitHub
Project Categories
AGI
World model and action architectures for general-purpose robot learning
unifolm-world-model-action
UnifoLM-WMA-0: open-source world-model–action architecture spanning multiple robotic embodiments, designed for general-purpose robot learning.
unifolm-vla
UnifoLM-VLA-0: Vision–Language–Action (VLA) large model designed for general-purpose humanoid robot manipulation.
Locomotion
Isaac Gym, IsaacLab and MuJoCo based locomotion control frameworks
unitree_rl_gym
Isaac Gym-based reinforcement learning example. Supports Go2, H1, G1, and H1_2.
unitree_mujoco
MuJoCo simulator with sim-to-real implementations and terrain generator. C++/Python interface support.
Manipulation
Teleoperation, LeRobot, Isaac Lab and image streaming tools
xr_teleoperate
Teleoperate Unitree G1, H1, H1_2 and more via XR devices (Apple Vision Pro, PICO, Quest) with integrated data recording.
unitree_lerobot
End-to-end embodied AI framework for Unitree robots (G1, H1, etc.). Integrates data conversion, LeRobot policy training, and real-world deployment.
unitree_sim_isaaclab
Isaac Lab-based high-fidelity simulation platform supporting G1, H1-2, etc. with the same DDS communication interface as physical robots.
teleimager
Image server that captures video from multiple cameras (UVC, OpenCV, RealSense) and publishes over the network using ZeroMQ or WebRTC.
Robot SDK
C++ and Python SDK packages for real-environment development
unitree_sdk2
SDK package for developing Go2, B2, H1, G1, H2, R1, A2 robots in real environments.
unitree_sdk2_python
Python interface for unitree_sdk2. Provides Python access to all SDK2 features.
unitree_legged_sdk
SDK for developing Aliengo, A1, Go1, and B1 robots in real environments (legacy generation).
Robot Models (URDF / USD)
Simulation model files for all Unitree robot series
ROS1 / ROS2
ROS1 simulation package and ROS2 real-environment development package
unitree_ros
ROS1 simulation package containing URDF files of all Unitree series robots.
unitree_ros2
Develop Go2 and B2 in ROS2 environment. Interface types consistent with unitree_sdk2.
Tools & Guides
Control algorithm book example and LiDAR SLAM implementation
unitree_guide
Example control algorithm from Unitree's 'Quadruped Robot Control Algorithm' book. Demonstrates joint motor control, simple foot movements, and force control. Both simulation and real robot supported.
point_lio_unilidar
Point-LIO LiDAR inertial odometry adapted for Unitree 4D Lidar L1. Completes SLAM using only pointcloud and built-in IMU.
Turkey Partner Resources
Setup, configuration and integration resources published by the Unitree & PUDU Robotics Turkey distributor
unitree-h2
Configuration files, setup guide and integration resources for the Unitree H2 humanoid robot, developed by the Turkey partner.
Frequently Asked Questions
What is Unitree's most popular open source project?
unitree_rl_gym is the most starred project as an Isaac Gym-based reinforcement learning example. unitree_sdk2 and unitree_ros also have strong community interest.
Can I program Unitree robots with Python?
Yes, the unitree_sdk2_python package provides a comprehensive Python interface for all modern Unitree robots (Go2, G1, H1, H2, B2, etc.).
Is XR device teleoperation possible with Unitree robots?
Yes, the xr_teleoperate package provides full teleoperation and data recording with G1, H1, H1_2 and other models via Apple Vision Pro, PICO, and Quest devices.
Where are URDF/USD models for Unitree robots?
The unitree_ros repo contains URDF models and unitree_model contains USD format models for all Unitree robots: G1, H2, R1, Go2, B2, As2 and more.
Are Unitree VLA/LLM integrations open source?
Yes, unifolm-vla (Vision–Language–Action) and unifolm-world-model-action have been released as open source. These are part of Unitree's AGI roadmap.
Is developer support available in Turkey?
Robotlar.org provides technical consulting for SDK setup, model deployment and open source project integration in Turkey.
Does the Turkey partner publish resources on GitHub?
Yes, the github.com/Unitree-Pudu-Robotics-Turkiye-Partneri organization hosts H2 configuration files, setup guides and local integration examples. The unitree-h2 repository contains Turkey-specific resources for the H2 humanoid robot.
Unitree Developer Support
in Turkey.
Get support from our Unitree technical team in Turkey for SDK setup, RL training, or open source project integration.