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 and G1.
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 and more via XR devices (Apple Vision Pro, PICO, Quest) with integrated data recording.
teleimager
The image layer of teleoperation: an image server publishing multi-camera streams (UVC/OpenCV/RealSense) over ZeroMQ, WebRTC or shared memory. Powers xr_teleoperate's video pipeline.
unitree_lerobot
End-to-end embodied AI framework for Unitree robots (G1, etc.). Integrates data conversion, LeRobot policy training, and real-world deployment.
unitree_sim_isaaclab
Isaac Lab-based high-fidelity simulation platform supporting G1, H2, 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, 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
unitree_ros (URDF)
Humanoid: R1, R1 Air, H2, G1. Quadruped: Go2, Go2-W, B2, B2-W, As2, A2. Dexterous Hands: Dex1-1, Dex3-1, Dex5-1. Arms: Z1.
unitree_model (USD)
USD (Universal Scene Description) files for G1, B2, H2, Go2, and other models.
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.
unitree_webrtc_connect
Community Python driver controlling Go2 and G1 over the official mobile app's WebRTC protocol — no jailbreak/firmware mods. Data channel, video, audio and LiDAR access.
Turkey Partner Resources
Setup, configuration and integration resources published by the Unitree Robotics Turkey authorized distributor and PUDU Robotics official partner
unitree-h2
Configuration files, setup guide and integration resources for the Unitree H2 humanoid robot, developed by the Turkey partner.
unitree-g1-isaac-groot-turkce
Turkish technical summary of the end-to-end humanoid pipeline with G1 and NVIDIA Isaac GR00T, from data collection to Jetson Thor deployment.
unitree-lerobot-turkce
Collecting G1 dual-arm dexterous hand data with unitree_lerobot, converting it to LeRobot format and training an imitation learning policy.
unitree-hunerli-el-turkce
Comparing the Dex5-1 (20 DoF, 94 tactile sensors), Dex3-1 and the Dex1-1 gripper: which end effector suits which task.
unitree-endustriyel-navigasyon-turkce
Unitree industrial navigation software: SLAM mapping, topological routing and autonomous inspection, in Turkish.
unitree-slam-demolari-turkce
Turkish Python guide to the multi-floor, elevator, relocalization and fiducial marker SLAM demos.
unitree-motor-debug-turkce
Turkish guide to the GO-M8010-6 joint motor debugging and calibration tool.
URDF, MJCF and USD Files by Model
Each Unitree model keeps its simulation body in its own folder inside the unitree_ros repo; the USD (Isaac Sim) counterparts live in unitree_model. The table below gives the folder name, the actual files inside it and a direct link. File names verified on 13 August 2026.
| MODEL | FILES (UNITREE_ROS) | USD (ISAAC SIM) |
|---|---|---|
Unitree G1 Product page | g1_description g1_23dof.urdf, g1_29dof.urdf, g1_29dof_with_hand.urdf (+ .xml MJCF) 23-DOF and 29-DOF bodies are separate files; locked-waist and Inspire/Dex hand variants included. | G1 |
Unitree G1-D Product page | g1_d_description g1_d URDF + meshes | Not published |
Unitree H2 Product page | h2_description H2.urdf, H2_dae.urdf, H2_loop.urdf, H2_loop.xml (MJCF) H2_loop models the closed kinematic chain; this is the file used on the Isaac/MuJoCo side. | H2 |
Unitree H2 Plus Product page | h2_plus H2_Plus.urdf + meshes | H2_Plus |
Unitree R1 Product page | r1_description R1.urdf + meshes R1 AIR (r1_air_description), R1-A5 and R1-A7 have their own folders. | Not published |
Unitree Go2 Product page | go2_description urdf/ + xacro/ + dae/ (ROS1 paketi) | Go2 |
Unitree Go2-W Product page | go2w_description urdf/ + config/ + launch/ | Not published |
Unitree B2 Product page | b2_description urdf/ + xacro/ (ayrıca b2_description_mujoco) The MuJoCo build lives in a separate folder; do not confuse it with the ROS package. | B2 |
Unitree B2-W Product page | b2w_description urdf/ + xacro/ + config/ | Not published |
Unitree AS2 Product page | as2_description urdf/as2.urdf, as2.xml (MJCF) No separate URDF is published for AS2-W; the repo carries a single body model. | Not published |
Unitree A2 Product page | a2_description urdf/a2.urdf, a2.xml (MJCF) No separate URDF is published for A2-W. | Not published |
Unitree Z1 | z1_description xacro/ + meshes/ (robotik kol) | Not published |
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, H2, B2, etc.).
Is XR device teleoperation possible with Unitree robots?
Yes, the xr_teleoperate package provides full teleoperation and data recording with G1, H2 and other models via Apple Vision Pro, PICO, and Quest devices.
Where are URDF/USD models for Unitree robots?
URDF and MJCF bodies live under robots/ in the unitree_ros repo, split per model (g1_description, h2_description, go2_description, as2_description and so on). USD counterparts are in unitree_model; today USD is published for B2, G1, Go2, H1, H2 and H2 Plus.
Which file is the Unitree G1 URDF?
g1_description holds separate files per degree of freedom: g1_23dof.urdf and g1_29dof.urdf. Locked-waist, Inspire and Dex hand builds are separate files too, and every URDF has its MJCF counterpart as an .xml in the same folder.
Which file is the Unitree H2 URDF?
h2_description contains H2.urdf, H2_dae.urdf (DAE mesh references) and H2_loop.urdf, which models the closed kinematic chain. On the MuJoCo side you use H2_loop.xml. H2 Plus sits in its own folder (h2_plus/H2_Plus.urdf).
Where are the URDFs for Go2, B2 and AS2?
The quadrupeds ship as ROS1 packages: go2_description, go2w_description, b2_description, b2w_description, as2_description and a2_description. No separate URDF is published for AS2-W or A2-W; the repo carries a single body model for those series.
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-Turkiye organization hosts 17 Turkish-language repositories: a per-model URDF/MJCF/USD index, industrial navigation documentation, and guides for SDK2, ROS2, MuJoCo, RL Gym and teleoperation. The unitree-h2 repository collects Turkish resources for the H2 humanoid.
Unitree Developer Support
in Turkey.
Get support from our Unitree technical team in Turkey for SDK setup, RL training, or open source project integration.