Unitree G1 Alternatives: A Sourced, Edition-by-Edition Technical Comparison

Using the Unitree G1 (Basic) and G1 EDU as the baseline, the biped humanoids in the same class are compared edition by edition. Every value carries its manufacturer source, document date and check date; values the manufacturer has not published are not filled in with estimates.

Last updated: 25 September 2026 · 17 editions, 140 sources · Method

Quick selection summary

Research with service in Turkey: G1 EDU
Joint-level SDK, dexterous hand options, official teleoperation and data-collection repositories. Stock, warranty and service through Robotlar.org (Unitree partner in Turkey).
Same size with LiDAR and ROS 2: AgiBot X2 Ultra
1310 mm, 31 DoF excluding hands, 3D LiDAR, an RGB-D camera, Orin NX (157 TOPS) and a ROS 2 based SDK. No official teleoperation or training repository was found.
More payload and speed: Booster T2
Up to 10 kg with both arms and 3 m/s; the Professional edition has a Jetson Thor T5000. Height and weight could not be confirmed in this check and hand sale options are not documented.
Open hardware and open models: AgiBot X1, Fourier N1
The X1's drawings and bill of materials are published (no licence file). The N1's models are Apache-2.0; its joint API runs in current, torque, velocity, position or PD mode.
Small and light: Booster K1, Unitree R1 EDU
The K1 is 95 cm and 19.5 kg; the Education edition walks 80 minutes at 0.4 m/s. The R1 EDU is about 29 kg with a joint-level SDK and about 1 hour of runtime.
7 kg and above: H2 EDU or T2
Documented arm payload in the G1 class stops at 3 kg. For 7-8 kg only the Unitree H2 (about 7 kg rated) and the Booster T2 (10 kg with both arms) have documented figures.

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Technical comparison table

Pick the baseline G1 edition, add up to three alternatives or open every edition in one table. The [n] in a cell leads to its source. "Not documented" means the manufacturer has not published the value, "Could not verify" means the source could not be confirmed in this check, and "Conflicting" means official sources give different values.

Baseline G1 edition

Alternatives3/3 selected. Up to three alternatives. Remove one to add another.

Unitree
Booster
Booster
Booster
EngineAI
Fourier
AgiBot
AgiBot

The table scrolls horizontally; the first column stays fixed. A bold cell with a left rule is the documented value that leads that row among the visible columns.

Edition-level technical comparison of the Unitree G1 and its alternatives. The number in brackets links to the source list at the end of the page.
Specification	UnitreeG1 (Basic)Standard (Basic)Baseline	UnitreeG1 EDUEDU (23 to 43 DoF configurations)Baseline	UnitreeR1StandardSame ecosystem	UnitreeR1 EDUEDUSame ecosystem	BoosterT2 EducationEducationG1 class	BoosterT2 ProfessionalProfessionalG1 class	BoosterT1By end-effector configuration (base, gripper, dexterous hand)G1 class	BoosterK1 GeekGeekG1 class	BoosterK1 EducationEducation (K1 Edu)G1 class	BoosterK1 ProfessionalProfessional (K1 Pro)G1 class	EngineAIPM01 EduEducation edition ("PM01 Edu" in the official repositories)G1 class	FourierN1Single editionG1 class	AgiBotX1Open-source kitG1 class	AgiBotX2BaseG1 class	AgiBotX2 UltraUltraG1 class
Body size and weight	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Height and dimensionsStanding; height × width × depth	1320 × 450 × 200 mm; folded 690 × 450 × 300 mmSource [1]	1320 × 450 × 200 mm; folded 690 × 450 × 300 mmSource [1]	1230 × 357 × 190 mmSource [31]	1230 × 357 × 190 mmSource [31]	Could not verifyAbout 140 cm tallValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [46]	Could not verifyAbout 140 cm tallValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [46]	About 1.2 m tallThe 118 × 47 × 23 cm in the manual record could not be confirmed in this check.Source [47]	About 95 cm tallSource [48]	About 95 cm tallSource [48]	About 95 cm tallSource [48]	140 × 53.6 × 25.3 cmConsistent with the official MuJoCo model's size (1.400 × 0.536 × 0.252 m).Source [84][89]	Conflicting1245 × 441 × 202 mm (brochure)The product page record says 130 cm; the official model is 1.241 m tall and supports the brochure.Source [100][109]	Could not verify130 cm tallValue from the product record; it could not be confirmed in this check. The simplified official model is 1.27 m tall (parts may be missing).Source [73]	1310 × 460 × 210 mmSource [66]	1310 × 460 × 210 mmSource [66]
Weight	About 35 kgwith batterySource [1]	About 35 kgwith batterySource [1]	About 29 kgwith battery; R1 AIR about 27 kgSource [31]	About 29 kgwith battery; R1 AIR about 27 kgSource [31]	Could not verifyAbout 42 kgValue from the product record; it could not be confirmed in this check. Link masses in the official model file sum to 42.0 kg (model value).Source [46][57]	Could not verifyAbout 42 kgValue from the product record; it could not be confirmed in this check. Link masses in the official model file sum to 42.0 kg (model value).Source [46][57]	30 kgSource [47]	19.5 kgSource [48]	19.5 kgSource [48]	19.5 kgSource [48]	Could not verifyAbout 43 kgValue from the product record (with battery); it could not be confirmed in this check. The model file mass is 40.9 kg.Source [84]	Could not verify38 kgValue from the product record; it could not be confirmed in this check. The model file mass is 39.7 kg.Source [100]	Could not verify33 kgValue from the product record; the model files give 35.3 to 36.1 kg.Source [73]	About 35 kgSource [67]	ConflictingAbout 39 kgThe maker's model repository says about 42 kg (flagship) and about 45 kg (the new -N version).Source [68][71]
Degrees of freedom (DoF)	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
TotalExcluding hands; the with-hands figure is noted	23no handsSource [1][8]	23 or 29; 43 with two Dex3-1 hands29: with the optional waist and wrist axesSource [1][8]	26excluding handsSource [31][35]	26excluding handsSource [31][35]	31excluding handsSource [46][57]	31excluding handsSource [46][57]	23; 29 with 7-DoF armsexcluding hands; 31 in total with grippers, 41 with 6-DoF handsSource [47][60]	22no hands, no waist jointSource [48][59]	22no hands, no waist jointSource [48][59]	22no hands, no waist jointSource [48][59]	24no handsSource [87][90]	23no hands, no head jointSource [102]	Conflicting29 joints and 2 grippers (31 actuators)The product page record says 34 active DoF; the 3 head servos in the official wiring diagram are not in the bill of materials.Source [73][78]	25no handsSource [66]	31excluding handsThe AimDK 1.0.0 documentation says 30 (neck 1); the store and the model file say 31.Source [68][71]
LegPer leg	6Source [1][8]	6Source [1][8]	6Source [31][35]	6Source [31][35]	6Source [46]	6Source [46]	6Source [58]	6Source [59]	6Source [59]	6Source [59]	6Source [90]	6Source [102]	6Source [78]	6Source [68][71]	6Source [68][71]
Waist	1 (yaw)Source [1][8]	1; optionally 3 (yaw, roll, pitch)Source [1][8]	2 (roll, yaw)Source [31][35]	2 (roll, yaw)Source [31][35]	3Source [46]	3Source [46]	1 (yaw)Source [58]	NoneSource [59]	NoneSource [59]	NoneSource [59]	1 (yaw)Source [90]	1 (yaw)Source [102]	3 (roll, pitch, yaw)Source [78]	3Source [68][71]	3Source [68][71]
ArmPer arm, excluding the hand	5Source [1][8]	5; 7 with the optional wristSource [1][8]	5 (including wrist roll)Source [31][35]	5 (including wrist roll)Source [31][35]	7Source [46]	7Source [46]	4; 7 in the gripper and hand configurationsSource [47][60]	4Source [59]	4Source [59]	4Source [59]	5Source [90]	5 (including wrist yaw)Source [102][109]	7Source [78]	Could not verify5Value from the product record; it could not be confirmed at the manufacturer source in this check.Source [66]	7Source [68][71]
HandPer hand, active	None; hand options are on the EDUSource [1]	Dex3-1: 7 active per hand; Inspire: 6 active (12 joints); Dex1-1 gripperOptionSource [1][8]	None; the optional hand is on the R1 EDUSource [31]	Optional dexterous hand: 7 per hand (total rises to 40)OptionThe hand model is not named on the page.Source [31]	Not documentedOfficial model files include Wuji and Revo2 hand and JZ and YS gripper variants; which are sale options was not confirmed.Source [60]	Not documentedOfficial model files include Wuji and Revo2 hand and JZ and YS gripper variants; which are sale options was not confirmed.Source [60]	Gripper (1) or a 6-DoF dexterous handOptionSource [47]	NoneSource [59]	NoneSource [59]	NoneSource [59]	None; the arm ends at the elbow end linkSource [90]	None; the arm ends in a fixed end linkSource [109]	OmniPicker gripper, 1 actuatorSource [75][78]	None; hand and gripper options are on the X2 Ultra onlySource [66]	OmniHand dexterous hand or OmniPicker adaptive gripperOptionThe hand's DoF was not found in this check.Source [66]
Head and neck	None; the depth camera and LiDAR are fixed to the torsoSource [8][9]	None; the depth camera and LiDAR are fixed to the torsoSource [8][9]	2 (pitch, yaw)Source [31][35]	2 (pitch, yaw)Source [31][35]	2Source [46]	2Source [46]	2Source [60]	2Source [59]	2Source [59]	2Source [59]	1 (yaw)Source [90]	NoneSource [102]	Not documentedThe wiring diagram shows 3 head servos; they are not in the open-source bill of materials, which uses a phone as the head display.Source [76][77]	Not documentedThe maker gives no head DoF for the X2.	2 (yaw, pitch)Source [68][71]
Joints, actuators and torque	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Motor and joint design	Low-inertia, high-speed internal-rotor PMSM. The official training config uses N7520, N5020 and W4010 motorsSource [1][11]	Low-inertia, high-speed internal-rotor PMSM. The official training config uses N7520, N5020 and W4010 motorsSource [1][11]	Low-inertia, high-speed internal-rotor PMSM joint motorsSource [32]	Low-inertia, high-speed internal-rotor PMSM joint motorsSource [32]	Joints with local air coolingThe motor type (internal-rotor PMSM) could not be confirmed in this check.Source [46]	Joints with local air coolingThe motor type (internal-rotor PMSM) could not be confirmed in this check.Source [46]	Not documentedThe dual-encoder note in the manual record could not be confirmed in this check. The official training repository models an E8116 actuator at the knee and an E8112 at hip pitch.Source [62]	Not documentedThe dual-encoder note in the manual record could not be confirmed in this check.	Not documentedThe dual-encoder note in the manual record could not be confirmed in this check.	Not documentedThe dual-encoder note in the manual record could not be confirmed in this check.	Q90 (hip pitch, hip roll, knee) and Q25 (other joints) joint modules; parallel-linkage ankleSource [90][97]	Joint actuators on Ethernet (each joint has its own IP address)The dual-encoder and 70 A peak-current figures in the product record could not be confirmed in this check.Source [102]	PowerFlow R86-3 (hip pitch, hip roll, knee), R86-2 and R52 rotary joints and an L28 linear actuator (wrist); an EtherCAT to CAN FD domain controller (DCU)Source [75][77]	Not documented	Not documented
Knee torqueManufacturer figure; peak and rated stated separately	90 N·mmaximum, maker's tableSource [2]	120 N·mmaximum, maker's tableSource [2]	Not documentedThe maker publishes no torque figure.	Not documentedThe maker publishes no torque figure.	Not documentedThe maker publishes no per-joint torque.	Not documentedThe maker publishes no per-joint torque.	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented
Hip torqueManufacturer figure	Not documentedNot on the datasheet. The model file gives hip pitch 88 N·m (rev 1.0) or 139 N·m (newer revisions).Source [9][10]	Not documentedNot on the datasheet. The model file gives hip pitch 88 N·m (rev 1.0) or 139 N·m (newer revisions).Source [9][10]	Not documentedThe maker publishes no torque figure.	Not documentedThe maker publishes no torque figure.	Not documentedThe maker publishes no per-joint torque.	Not documentedThe maker publishes no per-joint torque.	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented
Peak torque, joint not statedCatalogue or module figure; not a knee or hip value	Not documentedThe maker's table gives only the knee torque.	Not documentedThe maker's table gives only the knee torque.	Not documentedThe maker publishes no torque figure.	Not documentedThe maker publishes no torque figure.	140 N·m peakjoint not statedSource [46]	140 N·m peakjoint not statedSource [46]	Could not verify130 N·m peakValue from the manual record; it could not be confirmed in this check. Consistent with the 130.5 N·m knee limit in the model file.Source [50]	Conflicting60 N·m peak (manual record)Since 28 August 2026 the official model file limits the knee at 112 N·m (40 N·m before); the deploy configuration still uses 40 N·m.Source [51][59][61]	Conflicting60 N·m peak (manual record)Since 28 August 2026 the official model file limits the knee at 112 N·m (40 N·m before); the deploy configuration still uses 40 N·m.Source [51][59][61]	Conflicting60 N·m peak (manual record)Since 28 August 2026 the official model file limits the knee at 112 N·m (40 N·m before); the deploy configuration still uses 40 N·m.Source [51][59][61]	ConflictingQ90H module 145 N·m peak; Q25H 50 N·m (product record)Official model files limit the Q90 joints at 164 N·m and the Q25 joints at 61 N·m; 145 N·m appears in no repository.Source [84][87]	Conflicting144 N·m peak (product record)The highest joint limit in the official models is 95 N·m (hip pitch and knee); a model limit can sit below the actuator's real peak.Source [100][109]	Could not verifyR86-3: 200 N·m peak, 60 N·m ratedCatalogue value from the product record; not in the repositories. The driver's torque encoding range for the R86 is ±100 N·m.Source [73][77]	120 N·m peakjoint not statedSource [66]	120 N·m peakjoint not statedSource [66]
Torque limit in the model fileOfficial URDF/MJCF; knee and hip pitch	Knee 139 N·m; hip pitch 88 N·m (rev 1.0) or 139 N·m (newer revisions)Not the same definition as the datasheet knee torque; one does not replace the other.Source [9][10]	Knee 139 N·m; hip pitch 88 N·m (rev 1.0) or 139 N·m (newer revisions)Not the same definition as the datasheet knee torque; one does not replace the other.Source [9][10]	Knee 60 N·m, hip pitch 60 N·mThe 88/139 N·m values in the MuJoCo model appear copied from the G1; they are not R1 torque.Source [35]	Knee 60 N·m, hip pitch 60 N·mThe 88/139 N·m values in the MuJoCo model appear copied from the G1; they are not R1 torque.Source [35]	Knee 135 N·m, hip pitch 135 N·mSource [57]	Knee 135 N·m, hip pitch 135 N·mSource [57]	Knee 130.5 N·m, hip pitch 98.8 N·mThe December 2025 model file had 60 N·m at the knee; the values changed on 28 August 2026.Source [58]	Knee 112 N·m, hip pitch 68 N·m28 August 2026 model file; the earlier version had 40 and 30 N·m.Source [59]	Knee 112 N·m, hip pitch 68 N·m28 August 2026 model file; the earlier version had 40 and 30 N·m.Source [59]	Knee 112 N·m, hip pitch 68 N·m28 August 2026 model file; the earlier version had 40 and 30 N·m.Source [59]	Knee, hip pitch and hip roll 164 N·m; other joints 61 N·mSource [87]	Knee and hip pitch 95 N·m; hip roll and yaw 54 N·mSource [109]	Knee, hip pitch and hip roll 150 N·m (training URDF)The MuJoCo model has hip roll at 50 N·m.Source [81]	Not documentedNo model file was found for the base X2.	Knee and hip 120 N·mThe new -N version raised the shoulder and ankle torques.Source [71]
Reach and picking from the floor	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Arm length and reach	Not documentedMeasured from the official model file: about 41 cm from the shoulder axis to the palm frame (fingers excluded; not a manufacturer figure).Source [9]	Not documentedMeasured from the official model file: about 41 cm from the shoulder axis to the palm frame (fingers excluded; not a manufacturer figure).Source [9]	Forearm plus upper arm 420 mmSource [31]	Forearm plus upper arm 420 mmSource [31]	Not documented	Not documented	Not documentedThe 45 cm arm length in the manual record could not be confirmed in this check.	Not documented	Not documented	Not documented	Not documentedMeasured from the model file: upper arm 216 mm, forearm 298 mm (no hand; not a manufacturer figure). The product record gives a 1.44 m span with both arms open.Source [87]	Not documentedMeasured from the model file: upper arm 224 mm, forearm 205 mm (no hand; not a manufacturer figure). The product record gives a 1240 mm arm span.Source [109]	Not documentedMeasured from the model file: upper arm 185 mm, forearm 259 mm (gripper excluded; not a manufacturer figure).Source [81]	Not documentedThe 558 mm arm reach in the product record could not be confirmed in this check.	Not documentedThe 558 mm arm reach in the product record could not be confirmed in this check.
Knee and hip range of motionSets the squat limit	ConflictingModel file: knee -5° to 165°, hip pitch -145° to 165°The maker's table values in the product record (knee 0° to 165°, hip pitch ±154°) could not be confirmed in this check and do not match the model file.Source [1][9]	ConflictingModel file: knee -5° to 165°, hip pitch -145° to 165°The maker's table values in the product record (knee 0° to 165°, hip pitch ±154°) could not be confirmed in this check and do not match the model file.Source [1][9]	Knee -10° to 139°; hip pitch -168° to 146°Source [31][35]	Knee -10° to 139°; hip pitch -168° to 146°Source [31][35]	Model file: knee 0° to 148°, hip pitch -168° to 128°Source [57]	Model file: knee 0° to 148°, hip pitch -168° to 128°Source [57]	ConflictingModel file: knee 0° to 122.9°, hip pitch -170° to 125.5°The product manual record gives ±118° for hip pitch; the manual could not be opened in this check.Source [50][58]	Model file: knee 0° to 133°, hip pitch -169.5° to 127.5°The product record also carried the older model file's values (knee 0° to 127°).Source [59]	Model file: knee 0° to 133°, hip pitch -169.5° to 127.5°The product record also carried the older model file's values (knee 0° to 127°).Source [59]	Model file: knee 0° to 133°, hip pitch -169.5° to 127.5°The product record also carried the older model file's values (knee 0° to 127°).Source [59]	ConflictingModel file: knee -20° to 137°, hip pitch -180° to 140°The user manual record gives -30° to 137° for the knee and -29° to 134° for hip roll; the model file has hip roll -25° to 120°.Source [85][87]	Model file: knee -5° to 135°, hip pitch ±150°Source [109]	MuJoCo model: knee 0° to 103°The training URDF uses placeholder limits; physical limits are not stated in the repositories.Source [80]	Not documented	Not documented
Waist motionWaist pitch axis for bending forward	Yaw only, ±150° (model file); no waist pitchSource [8][9]	Yaw ±150°; optional roll and pitch ±30° (model file)Source [1][9]	Yaw ±150°, roll ±30°; no waist pitchSource [31][35]	Yaw ±150°, roll ±30°; no waist pitchSource [31][35]	Model file: pitch -43° to 32°, roll ±20.5°, yaw ±138°Source [57]	Model file: pitch -43° to 32°, roll ±20.5°, yaw ±138°Source [57]	Yaw only, ±58° (model file); no waist pitchSource [58]	No waist jointSource [59]	No waist jointSource [59]	No waist jointSource [59]	Yaw only: -230° to 90° (320° span); no waist pitchSource [87]	Yaw only, ±150°; no waist pitchSource [109]	MuJoCo model: pitch -17° to 90°, roll ±29°, yaw ±180°Source [80]	Not documented	3-DoF waist (yaw, roll, pitch)Source [71]
Picking from the floorReady feature or development work	Not documentedNo hands and no waist pitch axis; picking from the floor is not documented.	Not documentedThe official API offers squat-to-stand and lie-to-stand transitions; picking objects from the floor is not documented. With the optional waist pitch and a dexterous hand it needs development and load testing.Source [17]	Not documentedNo waist pitch axis; picking from the floor is not documented.	Not documentedNo waist pitch axis; picking from the floor is not documented.	Not documentedIt has a waist pitch axis and 7-DoF arms; picking from the floor is not documented as a ready function.	Not documentedIt has a waist pitch axis and 7-DoF arms; picking from the floor is not documented as a ready function.	Not documentedNo waist pitch axis; picking from the floor is not documented.	Not documentedNo hands, no waist joint and no more than 4 arm axes; picking from the floor is not documented.	Not documentedNo hands, no waist joint and no more than 4 arm axes; picking from the floor is not documented.	Not documentedNo hands, no waist joint and no more than 4 arm axes; picking from the floor is not documented.	Not documentedNo waist pitch axis and no hands; picking from the floor is not documented.	Not documentedNo waist pitch axis and no hands. Firmware 4.1.11 added a walking box-carry arm-clamp motion; no payload figure is given.Source [108]	Not documentedIt has a waist pitch axis and 7-DoF arms; picking from the floor is not documented.	Not documented	Not documented
Payload	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Payload per armMaximum or rated; with its condition	Could not verifyAbout 2 kgCould not be confirmed independently in this check. The maker states that arm load varies greatly with arm extension.Source [2]	About 3 kgmaker: arm maximum load; varies greatly with arm extension, single or dual arm not statedSource [1][2]	About 2 kgmaker: arm maximum load; varies greatly with arm extensionSource [32]	About 2 kgmaker: arm maximum load; varies greatly with arm extensionSource [32]	Not documentedThe maker gives only the dual-arm figure.	Not documentedThe maker gives only the dual-arm figure.	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Could not verify0.5 kgValue from the product record (single arm); the repositories give no payload.Source [73]	Up to 3 kg in specific postures; 1 kg or less across the full reachexcluding the end effectorSource [67]	Up to 3 kg in specific postures; 1 kg or less across the full reachexcluding the end effectorSource [67]
Dual-arm payload	Not documentedThe maker publishes no dual-arm figure.	Not documentedThe maker publishes no dual-arm figure.	Not documentedThe maker publishes no dual-arm figure.	Not documentedThe maker publishes no dual-arm figure.	Up to 10 kgboth arms, maximumThe product-record note "varies with arm posture" could not be read as text in this check.Source [46]	Up to 10 kgboth arms, maximumThe product-record note "varies with arm posture" could not be read as text in this check.Source [46]	Not documented	Not documented	Not documented	Not documented	Not documented	Not documentedA box-carry motion exists; no payload figure is published.Source [108]	Not documented	Not documented	Not documented
Hands, grippers and touch sensing	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Hand and gripper options	None; dexterous hand and gripper options are on the EDUSource [1]	Dex3-1 three-finger hand, Dex1-1 parallel gripper, Inspire DFX and FTP five-finger hands; the official teleoperation tool also supports the BrainCo handOptionSource [1][25][28][29]	NoneSource [31]	Optional dexterous hand (model not named)OptionSource [31]	Not documentedSale options are not documented. The SDK defines Inspire, tactile Inspire and Revo hand types; official model files include Wuji and Revo2 hands and two grippers.Source [52][60]	Not documentedSale options are not documented. The SDK defines Inspire, tactile Inspire and Revo hand types; official model files include Wuji and Revo2 hands and two grippers.Source [52][60]	Gripper or a 6-DoF dexterous hand (by configuration)OptionSource [47]	NoneSource [59]	NoneSource [59]	NoneSource [59]	NoneSource [90]	NoneSource [109]	OmniPicker adaptive grippers, two (standard)Source [75][78]	NoneSource [66]	OmniHand dexterous hand or OmniPicker adaptive gripper (X2 Ultra only)OptionSource [66]
Tactile and force sensing	NoneSource [1]	Tactile arrays on the Dex3-1 (maker: 33 sensors per hand; the SDK reads 9 pressure records per hand). The Inspire DFX service takes position commands onlyOptionSource [6][16][29]	Not documented	Not documented	Not documentedThe SDK defines a tactile Inspire hand type; not confirmed as a T2 sale option.Source [52]	Not documentedThe SDK defines a tactile Inspire hand type; not confirmed as a T2 sale option.Source [52]	Not documentedThe SDK defines a tactile Inspire hand type; not confirmed as a T1 sale option.Source [52]	NoneSource [59]	NoneSource [59]	NoneSource [59]	NoneSource [90]	NoneSource [109]	Not documentedThe 30 N grip force in the product record is not in the repositories; grip force is commanded as a fraction of maximum current.Source [77]	NoneSource [66]	Not documentedOmniHand tactile features were not found in this check.
Perception: cameras, LiDAR, IMU	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Head and body cameras	Depth camera; an Intel RealSense D435i according to the official teleoperation documentationSource [1][9][26]	Depth camera; an Intel RealSense D435i according to the official teleoperation documentationSource [1][9][26]	Binocular camera (monocular on the R1 AIR)Source [31]	Binocular camera (monocular on the R1 AIR)Source [31]	Binocular cameras in the head and waistSource [46][57]	Binocular cameras in the head and waistSource [46][57]	Depth camera (model not stated)Source [47]	Stereo depth camera (model not stated)Source [48]	Stereo depth camera (model not stated)Source [48]	Stereo depth camera (model not stated)Source [48]	Two camera frames, head and torso; the type is not stated in the model fileProduct record: two depth cameras, head and waist, on the Education edition.Source [87]	Could not verifyOptional binocular depth cameraOptionFrom the product record. The model file has a camera frame on the torso; its type and option status are not stated in the repositories.Source [100][109]	Intel RealSense D435 (bill of materials)Source [75]	Interaction RGB camera; touch sensor on the headSource [66]	RGB-D camera, front binocular RGB, rear RGB cameraSource [66]
Wrist camera	Not documented	Not documentedThe official teleoperation documentation lists two RealSense D405 wrist cameras as a do-it-yourself data-collection add-on; not a factory option.Source [26]	Not documented	Not documented	Wrist cameraOptionSource [46]	Wrist cameraOptionSource [46]	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented
LiDAR	3D LiDAR; model files carry a MID-360 mounting frameSource [1][9]	3D LiDAR; model files carry a MID-360 mounting frameSource [1][9]	Not documentedThe maker's specification table lists no LiDAR; its absence is not stated explicitly.	Not documentedThe maker's specification table lists no LiDAR; its absence is not stated explicitly.	LiDAR (model not stated)OptionSource [46]	LiDAR (model not stated)OptionSource [46]	Not documented	Not documented	Not documented	Not documented	Livox Mid-360 in the navigation configurationOptionThe official navigation repository says it was validated on the real robot; whether it is standard hardware is not stated.Source [88][98]	Not documented	Not in the bill of materialsSource [75]	None; the 3D LiDAR is on the X2 UltraSource [66]	3D multi-line LiDARSource [66]
IMU	Two IMUs, torso and pelvis (model not stated)Source [9][21]	Two IMUs, torso and pelvis (model not stated)Source [9][21]	IMU in the pelvis (model file)Source [35]	IMU in the pelvis (model file)Source [35]	Yes; the SDK state message carries attitude, gyro and accelerationSource [55]	Yes; the SDK state message carries attitude, gyro and accelerationSource [55]	9-axis IMUSource [47]	9-axis IMUSource [48]	9-axis IMUSource [48]	9-axis IMUSource [48]	Yes; the ROS 2 interface provides quaternion, acceleration and angular rateSource [94]	USB IMU, 500 Hz by defaultSource [106]	Two YIS320 IMUs (one per DCU)Source [75][77]	Not documented	Not documented
Microphones and speaker	4-microphone array, 5 W speakerSource [1]	4-microphone array, 5 W speakerSource [1]	4-microphone array, speakerSource [31]	4-microphone array, speakerSource [31]	Microphone array and speakerSource [46]	Microphone array and speakerSource [46]	Circular 6-microphone array and speakerSource [47]	Circular 3-microphone array and speakerSource [48]	Circular 3-microphone array and speakerSource [48]	Circular 3-microphone array and speakerSource [48]	Not documented	Not documented	Not documented	Could not verifyMicrophone array, wireless microphone, speakerValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [66]	Could not verifyMicrophone array, wireless microphone, speakerValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [66]
Processor, GPU and memory	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Control processor	8-core high-performance CPU (PC1, motion control)Source [1]	8-core high-performance CPU (PC1, motion control)Source [1]	8-core high-performance CPUSource [31]	8-core high-performance CPUSource [31]	Not documentedThe control processor is not stated separately.	Not documentedThe control processor is not stated separately.	Intel i7-1370PWhich configuration includes it could not be confirmed (per the product record, not the base one).Source [47]	Not documented	Not documented	Not documented	Motion-control board (the "nezha" host)Source [95]	Could not verifyIntel Core i7-13700H, 16 GB memory, 512 GB NVMeFrom the product record; the repositories mention only a main control PC.Source [100]	Two Xyber DCU domain controllers (EtherCAT, 1 kHz)Source [77]	Two Rockchip RK3588Source [69]	Two Rockchip RK3588Source [69]
Development computer, GPU and memory	None; the standard G1 does not support secondary developmentSource [3]	PC2: NVIDIA Jetson Orin NX (official repository); the maker says "multiple brands and models, such as Orin"; memory not statedOptionSource [1][28]	Optional NVIDIA Jetson Orin moduleOptionThe maker's page does not say which edition takes it.Source [31]	Optional NVIDIA Jetson Orin moduleOptionThe maker's page does not say which edition takes it.Source [31]	Could not verifyHigh-performance ARM processorValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [46]	NVIDIA Jetson Thor T5000Source [46]	NVIDIA AGX OrinSource [47]	Not documentedThe module name is not published.	Not documentedThe module name is not published.	Not documentedThe module name is not published.	NVIDIA Orin host (application nodes); module variant, memory and TOPS not statedProduct record: Jetson Orin NX 16 GB on the Education edition.Source [95]	Not documentedNo discrete GPU or extra development module is documented.	x86 mini PC (i7-13620H in the bill of materials); a PREEMPT_RT kernel is requiredThe product record's "the compute unit is the user's responsibility" contradicts the official bill of materials.Source [75][77]	None; the Orin NX module is on the X2 UltraSource [66]	NVIDIA Orin NXSource [66][69]
AI computeIn the maker's unit; TOPS and TFLOPS are not compared	No development moduleSource [3]	Not documentedThe maker publishes no TOPS figure for the G1 EDU. 100 TOPS appears only on the G1-D and G1-Comp pages; 157 TOPS was found in no Unitree source.Source [1]	40 to 100 TOPS (optional Jetson Orin)OptionSource [31]	40 to 100 TOPS (optional Jetson Orin)OptionSource [31]	Not documentedNo figure is published for the Education edition.	2070 TFLOPSThe precision (for example FP4) is not stated on the page.Source [46]	200 TOPSSource [47]	Could not verify48 TOPS (dense)The maker's page offers 48 (dense), 117 and 200 TOPS options. The edition mapping could not be confirmed independently in this check; one summary of the launch announcement says 200 TOPS for the Geek.Source [48][49]	Could not verify117 TOPSThe maker's page offers 48 (dense), 117 and 200 TOPS options. The edition mapping could not be confirmed independently in this check; one summary of the launch announcement says 200 TOPS for the Geek.Source [48][49]	Could not verify200 TOPSThe maker's page offers 48 (dense), 117 and 200 TOPS options. The edition mapping could not be confirmed independently in this check; one summary of the launch announcement says 200 TOPS for the Geek.Source [48][49]	Not documented	Not documented	Not documented	No development moduleSource [66]	157 TOPS (Orin NX)Source [69]
Battery, runtime and charging	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Battery	9000 mAh, 13-cell lithium, quick-release smart batterySource [2]	9000 mAh, 13-cell lithium, quick-release smart batterySource [2]	Quick-release smart battery; the spare pack is 33.12 V, 6000 mAh, 199 WhSource [31][33]	Quick-release smart battery; the spare pack is 33.12 V, 6000 mAh, 199 WhSource [31][33]	48 V, 10 Ah; magnetic-port chargingNo Wh figure is published.Source [46]	48 V, 10 Ah; magnetic-port chargingNo Wh figure is published.Source [46]	10.5 AhVoltage and Wh are not published.Source [47]	2 AhSource [48]	5 AhSource [48]	5 AhSource [48]	Could not verify10,000 mAh, quick-releaseValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [84]	Could not verify475 Wh lithium-ionValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [100]	48 V 8 Ah lithium-ion (bill of materials)The bill of materials prefers a 12-cell series pack while the kit charger is 13-cell (54.6 V).Source [75]	About 500 WhSource [67]	About 500 WhSource [67]
RuntimeManufacturer figure and test condition	About 2 hourstest condition not statedSource [2]	About 2 hourstest condition not statedSource [2]	About 1 hourcondition not statedSource [31]	About 1 hourcondition not statedSource [31]	2 hourscontinuous walkingSource [46]	2 hourscontinuous walkingSource [46]	Up to 2 hours walking, up to 4 hours standingSource [47]	30 minuteswalking at 0.4 m/sSource [48]	80 minuteswalking at 0.4 m/sSource [48]	80 minuteswalking at 0.4 m/sSource [48]	Could not verifyAbout 2 hoursValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [84]	Could not verify2 hoursValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [100]	Could not verify2 hoursValue from the product record; the repositories give no runtime.Source [73]	About 2 hourswalking at 0.5 m/sSource [67]	About 2 hourswalking at 0.5 m/sSource [67]
Charging	54 V 5 A charger; charge time not statedSource [2]	54 V 5 A charger; charge time not statedSource [2]	Not documentedCharge time is not published.	Not documentedCharge time is not published.	Not documentedCharge time is not published.	Not documentedCharge time is not published.	Not documentedThe "2 hours or less" in the manual record could not be confirmed in this check.	Not documentedThe "2 hours or less" in the manual record could not be confirmed in this check.	Not documentedThe "2 hours or less" in the manual record could not be confirmed in this check.	Not documentedThe "2 hours or less" in the manual record could not be confirmed in this check.	Could not verify54.6 V 4.5 A; full charge in about 2 hoursValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [85]	Could not verifyAbout 3.5 hours; adapter 46 V 4 AValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [100]	54.6 V 5 A charger (kit toolkit list)Source [83]	1.5 hours or lessSource [66]	1.5 hours or lessSource [66]
Speed and balance	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Maximum speed	Could not verify2 m/sThe product-record value was not found at the manufacturer source in this check; the SDK offers a speed mode without m/s figures.Source [1]	Could not verify2 m/sThe product-record value was not found at the manufacturer source in this check; the SDK offers a speed mode without m/s figures.Source [1]	Not documentedWalking speed was not found in this check.	Not documentedWalking speed was not found in this check.	3 m/swalkingSource [46]	3 m/swalkingSource [46]	Could not verify1 m/sValue from the manual record; it could not be confirmed in this check. The 1.0 m/s command limit in the official deploy example is not a specification.Source [50]	Could not verify1.1 m/sValue from the manual record; it could not be confirmed in this check. The 1.6 m/s command limit in the official deploy example is not a specification.Source [51]	Could not verify1.1 m/sValue from the manual record; it could not be confirmed in this check. The 1.6 m/s command limit in the official deploy example is not a specification.Source [51]	Could not verify1.1 m/sValue from the manual record; it could not be confirmed in this check. The 1.6 m/s command limit in the official deploy example is not a specification.Source [51]	Could not verifyAbove 2 m/sValue from the product record; it could not be confirmed at the manufacturer source in this check.Source [84]	3.5 m/sthe fast-run task in firmware 4.1.0 and later; the maker warns of stability risk over long runs and does not recommend it for real applicationsSource [105]	Could not verify1 m/sValue from the product record. The official configuration caps the joystick at 0.5 m/s and the training command range reaches 1.2 m/s (not specifications).Source [73][82]	Up to 1.8 m/stypically 0.8 m/s or lessSource [66]	Up to 1.8 m/stypically 0.8 m/s or lessSource [66]
Obstacles, slopes and balance	Not documented	The official API has squat-to-stand, lie-to-stand (on flat, hard ground) and balance standSource [17]	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Not documented	Could not verify15-20° slopes, 20 cm stepsFrom the product record; not found in the SDK documentation.Source [100]	Not documented	Not documented	Not documented
ROS 2, SDK and joint-level control	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
SDK and languages	Secondary development not supported (official store)Source [3]	unitree_sdk2 (C++, CycloneDDS; Ubuntu 20.04, aarch64 and x86_64) and unitree_sdk2_python (PyPI: unitree-sdk2)Source [12][18]	No secondary development (R1 EDU only)Source [31]	unitree_sdk2 (locomotion, low-level, arm, audio) and unitree_sdk2_python (since July 2026); an R1 development guideSource [34][36][37]	Booster Robotics SDK: C++ (aarch64 and x86_64, Ubuntu 22.04 and 24.04), Python 1.6.3 (PyPI)Source [52][56]	Booster Robotics SDK: C++ (aarch64 and x86_64, Ubuntu 22.04 and 24.04), Python 1.6.3 (PyPI)Source [52][56]	Booster Robotics SDK: C++ (aarch64 and x86_64, Ubuntu 22.04 and 24.04), Python 1.6.3 (PyPI)Source [52][56]	Booster Robotics SDK: C++ (aarch64 and x86_64, Ubuntu 22.04 and 24.04), Python 1.6.3 (PyPI)Source [52][56]	Booster Robotics SDK: C++ (aarch64 and x86_64, Ubuntu 22.04 and 24.04), Python 1.6.3 (PyPI)Source [52][56]	Booster Robotics SDK: C++ (aarch64 and x86_64, Ubuntu 22.04 and 24.04), Python 1.6.3 (PyPI)Source [52][56]	Native C++ SDK (runs on the robot board after the factory motion service is stopped) and a ROS 2 workspaceSource [91][92]	Fourier-GRX-N1 SDK (.deb): User and PubSub APIs over Zenoh, a Python Developer API; tested on Ubuntu 22.04 with Python 3.11The Ubuntu 20.04 in the product record is outdated.Source [101][104]	AimRT middleware and the DCU driver SDKSource [77][79]	Secondary development interfaces are on the Ultra editionSource [70]	AimDK X2: ROS 2 based, C++ and PythonSource [70]
ROS 2	Not usable on the robot; secondary development is on the EDUSource [3]	unitree_ros2: Foxy and Humble; G1 low-level, Dex3-1, locomotion, arm-action and audio examplesSource [19]	Not usable on the robot; secondary development is on the R1 EDUSource [31]	No R1-specific ROS 2 example; the shared unitree_hg messages (q, dq, tau, kp, kd) can be usedSource [20]	ROS 2 message package (booster_ros2_interface); the T2 sample stack runs ROS 2 KiltedSource [55][65]	ROS 2 message package (booster_ros2_interface); the T2 sample stack runs ROS 2 KiltedSource [55][65]	ROS 2 message package; the RoboCup demo stack runs ROS 2 HumbleSource [55][64]	ROS 2 message package; the RoboCup demo stack runs ROS 2 Humble and JetPack 6.2Source [55][64]	ROS 2 message package; the RoboCup demo stack runs ROS 2 Humble and JetPack 6.2Source [55][64]	ROS 2 message package; the RoboCup demo stack runs ROS 2 Humble and JetPack 6.2Source [55][64]	ROS 2 Humble (Ubuntu 22.04), Cyclone DDS; the native SDK builds for Humble or JazzySource [91][92]	Not documentedThe SDK uses Zenoh rather than ROS 2; no official ROS 2 package was found.Source [101]	ROS 2 Humble plugin (AimRT)Source [79]	Not usable on the robot; on the Ultra editionSource [70]	ROS 2 (AimDK X2)Source [70]
Joint-level controlPosition, velocity, feed-forward torque, kp/kd	None; requires the EDUSource [3]	LowCmd: q, dq, tau, kp, kd per motor; 500 Hz in the official example; the built-in motion service is released first. Upper-body commands can be blended with walking through arm_sdkSource [13][14][15]	None; requires the R1 EDUSource [31]	LowCmd: 26 motors, q, dq, kp, kd, tau per joint; the motion service is released firstSource [36]	rt/joint_ctrl: q, dq, tau (feed-forward), kp, kd and weight per motor, in Custom mode. No maximum control rate is published (examples run at 50 to 500 Hz)Source [52][55]	rt/joint_ctrl: q, dq, tau (feed-forward), kp, kd and weight per motor, in Custom mode. No maximum control rate is published (examples run at 50 to 500 Hz)Source [52][55]	rt/joint_ctrl: q, dq, tau (feed-forward), kp, kd and weight per motor, in Custom mode. No maximum control rate is published (examples run at 50 to 500 Hz)Source [52][55]	rt/joint_ctrl: q, dq, tau (feed-forward), kp, kd and weight per motor, in Custom mode. No maximum control rate is published (examples run at 50 to 500 Hz)Source [52][55]	rt/joint_ctrl: q, dq, tau (feed-forward), kp, kd and weight per motor, in Custom mode. No maximum control rate is published (examples run at 50 to 500 Hz)Source [52][55]	rt/joint_ctrl: q, dq, tau (feed-forward), kp, kd and weight per motor, in Custom mode. No maximum control rate is published (examples run at 50 to 500 Hz)Source [52][55]	JointCommand: position, velocity, feed-forward torque, torque, stiffness (kp) and damping (kd) per joint, in "joint bridge" mode. The native SDK's motor task runs at 500 HzSource [91][93]	Developer API: current, torque, velocity, position or PD mode per joint; 400 Hz by default, 500 Hz at mostSource [103][104]	/joint_cmd: position, velocity, effort, stiffness and damping per joint; controller 1 kHz, policy 100 HzSource [77][78]	None; on the Ultra editionSource [70]	Low-level motor control for arm, waist and leg joints (AimDK)The command fields (position, velocity, torque, gains) could not be read in detail in this check.Source [70]
Which edition gets development access	G1 EDU only; the standard G1 does not support secondary development. The simulation repositories are publicSource [1][3]	G1 EDU only; the standard G1 does not support secondary development. The simulation repositories are publicSource [1][3]	R1 EDU only (no secondary development on the R1 AIR and R1)Source [31]	R1 EDU only (no secondary development on the R1 AIR and R1)Source [31]	Low-level topics are defined per model for K1, T1 and T2; no edition-level restriction is documented. The SDK has no T2 joint-order constant (booster_deploy t2.py)Source [52][61]	Low-level topics are defined per model for K1, T1 and T2; no edition-level restriction is documented. The SDK has no T2 joint-order constant (booster_deploy t2.py)Source [52][61]	Low-level topics are defined per model for K1, T1 and T2; no edition-level restriction is documentedSource [52]	Secondary development supported (launch announcement); per the SDK the vision detection service is disabled on the GeekSource [49][54]	Per the launch announcement all three editions support secondary development; low-level topics are defined per modelSource [49][52]	Per the launch announcement all three editions support secondary development; low-level topics are defined per modelSource [49][52]	Could not verifyEducation edition; per the product record the Business edition has no secondary developmentThe official repositories publish only "PM01 Edu" and the navigation model; the edition names could not be confirmed in this check.Source [84][86]	Single edition; the SDK installer lists only the N1Source [101]	Single configuration: the open-source kitSource [76]	The X2 Ultra and the X2 EDU announced in 2026; no secondary development on the base X2Source [70][72]	The X2 Ultra and the X2 EDU announced in 2026; no secondary development on the base X2Source [70][72]
Open-source scopeHardware design, software and licence	SDK, ROS 2 package, URDF/MJCF, training, teleoperation and data repositories on GitHub; no hardware design files were foundSource [8][12][25]	SDK, ROS 2 package, URDF/MJCF, training, teleoperation and data repositories on GitHub; no hardware design files were foundSource [8][12][25]	SDK, examples and URDF/MJCF on GitHub; no hardware design files were foundSource [35][36]	SDK, examples and URDF/MJCF on GitHub; no hardware design files were foundSource [35][36]	SDK, ROS 2 interface, URDF/MJCF, training and deployment repositories on GitHub; no hardware design files were foundSource [52][60][61]	SDK, ROS 2 interface, URDF/MJCF, training and deployment repositories on GitHub; no hardware design files were foundSource [52][60][61]	SDK, ROS 2 interface, URDF/MJCF, training and deployment repositories on GitHub; no hardware design files were foundSource [52][60][61]	SDK, ROS 2 interface, URDF/MJCF, training and deployment repositories on GitHub; no hardware design files were foundSource [52][60][61]	SDK, ROS 2 interface, URDF/MJCF, training and deployment repositories on GitHub; no hardware design files were foundSource [52][60][61]	SDK, ROS 2 interface, URDF/MJCF, training and deployment repositories on GitHub; no hardware design files were foundSource [52][60][61]	Software repositories are BSD-3-Clause (ROS 2, native SDK, Isaac Lab); the model-file repository has no licence; no hardware design files were foundThe product record's "fully open source" goes beyond this scope.Source [86][92]	URDF and MJCF Apache-2.0, SDK docs MIT, deployment and training repositories LGPL-3.0; the SDK runtime is a closed .deb packageThe product record's "complete hardware package (drawings, bill of materials) published" could not be verified on Fourier's GitHub account.Source [101][109][111]	Hardware (STEP, SolidWorks sources, drawings, bill of materials, assembly instructions), inference software (MulanPSL-2.0) and training code are publishedThe hardware repository has no licence file; the training repository has no LICENSE file.Source [74][79]	URDF and MJCF (MulanPSL-2.0); developer documentation is public; no hardware design files were foundSource [71]	URDF and MJCF (MulanPSL-2.0); developer documentation is public; no hardware design files were foundSource [71]
Simulation	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
URDF / MJCF	URDF and MJCF: 23- and 29-DoF bodies with Dex3-1, Inspire and Dex1-1 variants; the USD model moved to Hugging FaceSource [8][30]	URDF and MJCF: 23- and 29-DoF bodies with Dex3-1, Inspire and Dex1-1 variants; the USD model moved to Hugging FaceSource [8][30]	URDF (R1, R1 AIR) and MJCFSource [35][38]	URDF (R1, R1 AIR) and MJCFSource [35][38]	URDF and MJCF (T2 31 DoF; hand and gripper variants)Source [57][60]	URDF and MJCF (T2 31 DoF; hand and gripper variants)Source [57][60]	URDF and MJCF (T1 23 DoF); a URDF with 7-DoF arms (T1 29 DoF)Source [58][60]	URDF and MJCF (K1 22 DoF)Source [59][60]	URDF and MJCF (K1 22 DoF)Source [59][60]	URDF and MJCF (K1 22 DoF)Source [59][60]	URDF and MJCF (PM01 Edu and the navigation model); USD for Isaac LabSource [87][96]	URDF (Wiki-GRx-URDF) and MJCF (Wiki-GRx-MJCF)The two official model sets disagree on the ankle pitch limit (±45° and ±25°).Source [109][110]	URDF (training) and MJCF (inference)Source [80][81]	Not documentedNo model file was found for the base X2.	URDF and MJCF: X2 Ultra, X2 Ultra -N (OmniHand and OmniPicker variants) and X2 EDUSource [71]
MuJoCo and IsaacOfficial training and deployment repos	MuJoCo (unitree_mujoco, same DDS as the robot), Isaac Gym (unitree_rl_gym), Isaac Lab (unitree_rl_lab, unitree_sim_isaaclab), mjlab (unitree_rl_mjlab)Source [11][21][22][23][24]	MuJoCo (unitree_mujoco, same DDS as the robot), Isaac Gym (unitree_rl_gym), Isaac Lab (unitree_rl_lab, unitree_sim_isaaclab), mjlab (unitree_rl_mjlab)Source [11][21][22][23][24]	MuJoCo (unitree_mujoco; an R1 task and real-robot deploy code in unitree_rl_mjlab); no Isaac Lab or USD asset foundSource [24][38]	MuJoCo (unitree_mujoco; an R1 task and real-robot deploy code in unitree_rl_mjlab); no Isaac Lab or USD asset foundSource [24][38]	MuJoCo sim2sim and real-robot deployment (booster_deploy); no official Isaac task foundSource [61]	MuJoCo sim2sim and real-robot deployment (booster_deploy); no official Isaac task foundSource [61]	Isaac Gym training, MuJoCo and Webots testing, real-robot deployment (booster_gym); MuJoCo sim2sim (booster_deploy)Source [61][63]	Isaac Lab 2.2 motion-imitation tasks (booster_train), MuJoCo sim2sim and deployment (booster_deploy), RoboCup demoSource [61][62][64]	Isaac Lab 2.2 motion-imitation tasks (booster_train), MuJoCo sim2sim and deployment (booster_deploy), RoboCup demoSource [61][62][64]	Isaac Lab 2.2 motion-imitation tasks (booster_train), MuJoCo sim2sim and deployment (booster_deploy), RoboCup demoSource [61][62][64]	MuJoCo (ROS 2 workspace and native SDK), Isaac Lab 2.3.2 and Isaac Sim 5.1.0 (engineai_rl_lab), Gazebo (navigation)Source [92][96][98]	Isaac Gym training (Wiki-GRx-Gym), MuJoCo sim2sim (Wiki-GRx-Mujoco), Isaac Lab configuration (fourier_lab)Source [111][112][113]	Isaac Gym Preview 4 training, MuJoCo sim2simSource [79]	Not documented	MuJoCo models; no official training repository was foundSource [71]
Teleoperation and data collection	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Teleoperation	The official tool requires the edition with a development computerSource [26]	xr_teleoperate: Apple Vision Pro, PICO 4 Ultra Enterprise, Meta Quest 3 and 3S; G1 29 and 23 DoFSource [25][26]	Not documentedThe official tool supports the R1; the standard edition has no secondary development.Source [25]	xr_teleoperate v1.6 supports the R1; recording with --recordSource [25]	Not documentedNone of the nine official repositories is a teleoperation tool.Source [53]	Not documentedNone of the nine official repositories is a teleoperation tool.Source [53]	Not documentedNone of the nine official repositories is a teleoperation tool.Source [53]	Not documentedNone of the nine official repositories is a teleoperation tool.Source [53]	Not documentedNone of the nine official repositories is a teleoperation tool.Source [53]	Not documentedNone of the nine official repositories is a teleoperation tool.Source [53]	Not documentedNo official teleoperation tool was found.	Not yet: the Apple Vision Pro mode is marked "not released"Source [107]	Not documentedNo official teleoperation tool was found.	Not documentedNo official teleoperation tool was found.	Not documentedNo official teleoperation tool was found.
Data collection and imitation learning	The official data-collection flow requires the edition with a development computerSource [26][27]	unitree_lerobot: LeRobot v3.0 datasets; G1 with Dex1, Dex3, Inspire and BrainCo configurationsSource [27]	Not documented	Recording through xr_teleoperate; unitree_lerobot has no R1 configurationSource [25][27]	An API to load custom trained trajectories; no official dataset toolSource [53]	An API to load custom trained trajectories; no official dataset toolSource [53]	Zero-torque hand guiding, trajectory recording and replay (SDK); no official dataset toolSource [53]	Zero-torque hand guiding, trajectory recording and replay (SDK); no official dataset toolSource [53]	Zero-torque hand guiding, trajectory recording and replay (SDK); no official dataset toolSource [53]	Zero-torque hand guiding, trajectory recording and replay (SDK); no official dataset toolSource [53]	Retargeting human motion to the PM01 (GMR: BVH, SMPL-X, AMASS) and whole-body tracking trainingSource [96][99]	Not documented	Not documented	Not documented	Not documented
Supply in Turkey, warranty and quote	G1 (Basic)	G1 EDU	R1	R1 EDU	T2 Education	T2 Professional	T1	K1 Geek	K1 Education	K1 Professional	PM01 Edu	N1	X1	X2	X2 Ultra
Supply and service in Turkey	Stock, warranty, installation and service: Robotlar.org (Unitree partner in Turkey)Source [138]	Stock, warranty, installation and service: Robotlar.org (Unitree partner in Turkey)Source [138]	Stock, warranty, installation and service: Robotlar.org (Unitree partner in Turkey)Source [138]	Stock, warranty, installation and service: Robotlar.org (Unitree partner in Turkey)Source [138]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteLatest firmware: 4.2.2 preview (16 December 2025).Source [108][139]	Project-based supply: import, delivery and commissioning itemised in the quoteThe product ships as a kit of parts. The repositories have not been updated since April 2025; current sales status could not be verified in this check.Source [76][139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]	Project-based supply: import, delivery and commissioning itemised in the quoteSource [139]
Manufacturer warranty	8 monthsSource [1]	18 monthsSource [1]	8 monthsSource [31]	12 monthsSource [31]	Not documentedThe T2 warranty period was not found in this check.	Not documentedThe T2 warranty period was not found in this check.	1 yearSource [47]	3 monthsSource [48]	1 yearSource [48]	1 yearSource [48]	Not documented	Not documented	Not documented	8 months of maintenance serviceThe maker says "maintenance service"; warranty terms are not written separately.Source [66]	18 months of maintenance serviceThe maker says "maintenance service"; warranty terms are not written separately.Source [66]
Price and quote status	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]

Differences (baseline: G1 EDU)

With both G1 editions visible the summary uses the G1 EDU; switch the baseline to compare with the G1 (Basic).

Booster T2 Professional

Where this model leads

Total (31 DoF / 29 DoF)

Where the baseline leads

LiDAR
Depth camera
Official data collection tool
Stock and service in Turkey

Not comparable: Weight, Maximum speed, Dexterous hand, Tactile/force sensing, Open hardware, Official teleoperation tool, Swappable battery. The value is undocumented for one of the two or measured differently.

AgiBot X2 Ultra

Where this model leads

Total (31 DoF / 29 DoF)

Where the baseline leads

Official simulation model
Stock and service in Turkey

Not comparable: Weight, Maximum speed, Wrist camera, Tactile/force sensing, Open hardware, Official teleoperation tool, Official data collection tool, Swappable battery. The value is undocumented for one of the two or measured differently.

Unitree R1 EDU

Where this model leads

Weight (29 kg / 35 kg)

Where the baseline leads

Total (26 DoF / 29 DoF)
Arm (5 DoF / 7 DoF)
Depth camera
ROS 2
Official data collection tool

Not comparable: Maximum speed, LiDAR, Wrist camera, Tactile/force sensing, Open hardware. The value is undocumented for one of the two or measured differently.

Request a quote for this comparison

How to read the table

Values come from manufacturer sources only: product page, technical document, manual, official GitHub repository and official model file. Reseller and news-site figures were not used.
Every edition is its own column. The G1 (Basic) and G1 EDU share a body but differ in development access, compute, hands, arm freedom and knee torque; the same split is applied to the other brands' editions.
Degrees of freedom are stated excluding hands. A with-hands total quoted by the maker (such as 43 for the G1 EDU) is noted separately in the cell.
AI compute (TOPS or TFLOPS), joint torque (N·m), per-arm payload, dual-arm payload, and maximum versus rated payload sit on separate rows; none stands in for another.
Arm payload is not the weight of an object the hand can safely carry. Makers mostly give a posture-dependent maximum; the hand's grip force and what the wrist can hold are separate limits.
The torque limit in the model file (URDF/MJCF effort) is the limit the maker publishes for simulation. It does not replace the datasheet figure; it is shown on its own row with its source.
Development access is never generalised to a whole family. Which edition gets joint-level access is stated on its own row.
A bold cell with a left rule marks the leading value among the visible columns only on rows measured identically (top speed, weight, DoF excluding hands, per-arm DoF). Torque, payload and compute rows get no automatic mark.
The source list states each source's last check date and how the check was made (primary file, manufacturer page, or the earlier verification in the product record).
No prices are published and there is no budget filter. Price is settled by quote according to edition, hand and compute choice, spare battery, quantity, delivery and acceptance-test scope.

The G1 baseline and edition differences

Editions sold under one body name are different products in development access, compute, hands and battery. Only the items that change are listed for each family.

The G1 (Basic) and G1 EDU share a body: 1320 mm tall, about 35 kg with battery, 6 DoF per leg, 3D LiDAR and a depth camera, a 9000 mAh quick-release battery and about 2 hours of runtime. The difference is development access: the standard G1 does not support secondary development, while the G1 EDU has a development computer (a Jetson Orin NX per the official repository), a joint-level SDK and ROS 2.

The G1 EDU's strength is its ecosystem: MuJoCo, Isaac Gym, Isaac Lab and mjlab training repositories, XR-headset teleoperation, a LeRobot dataset flow and Dex3-1, Dex1-1 and Inspire hand options in the official repositories. The maker's table gives 120 N·m knee torque (90 N·m on the G1 Basic) and about 3 kg arm maximum load.

What the baseline does not give: the maker publishes no TOPS figure for the G1 EDU, arm payload is limited to a posture-dependent 3 kg or so, no wrist force/torque sensor or factory wrist camera is documented, and floor picking is not a ready function. When looking for an alternative, decide which of these gaps is critical for you.

Unitree G1: standard (Basic) and EDU

Item	G1 (Basic)	G1 EDU
Development on the robotSource [3][12]	None; official store: no secondary development	SDK, ROS 2, joint-level control
DoF (excluding hands)Source [1][8]	23	23; 29 with the optional waist and wrist
Hand and gripperSource [1][25]	None	Optional Dex3-1, Dex1-1, Inspire
Knee maximum torqueSource [2]	90 N·m	120 N·m
Arm maximum loadSource [2]	About 2 kg (not confirmed in this check)	About 3 kg
Development computerSource [1][28]	None	PC2: NVIDIA Jetson Orin NX
Manufacturer warrantySource [1]	8 months	18 months
Edition names in the manualsSource [4][5]	Basic, Standard, Advanced, Flagship A and B (Dex3-1), Flagship C (Inspire); the match to G1 or G1 EDU is not written	Basic, Standard, Advanced, Flagship A and B (Dex3-1), Flagship C (Inspire); the match to G1 or G1 EDU is not written

The "U1, U2, U3, U4" sub-edition names and the 40 and 100 TOPS mapping in the product record were found in no Unitree source; this page does not use them.

G1 Basic or G1 EDU: decision table

Unitree G1+: the new generation of the same body (September 2026)

Item	G1+	G1+ EDU
Size and weightSource [7]	1340 × 450 × 200 mm; about 35 kg	1340 × 450 × 200 mm; weight not confirmed
DoFSource [7]	25 (seen in one source only)	Not confirmed
Arm maximum loadSource [7]	Not confirmed (an unlabelled 4 kg figure on the page)	Not confirmed (an unlabelled 4 kg figure on the page)
Official model file and SDK exampleSource [8][12]	Not yet (repositories as of 21 September 2026)	Not yet (repositories as of 21 September 2026)

Most of the G1+ specification table could not be read in this check, so it is not in the main table; it will be added once the values are confirmed.

Unitree G1+ product page

Unitree R1: AIR, standard and EDU

Item	R1 AIR	R1	R1 EDU
DoFSource [31][35]	20 (arm 4; no waist or head joints)	26	26; 40 with the optional hands
WeightSource [31]	About 27 kg	About 29 kg	About 29 kg
CameraSource [31]	Monocular	Binocular	Binocular
Secondary developmentSource [31][36]	None	None	Yes: SDK, joint and sensor interfaces
Manufacturer warrantySource [31]	6 months	8 months	12 months

The maker's page does not say which edition takes the optional Jetson Orin module (40 to 100 TOPS).

Unitree R1 product page

Booster T2: Education and Professional

Item	Education	Professional
Compute unitSource [46]	High-performance ARM processor (product record; not confirmed in this check)	NVIDIA Jetson Thor T5000, 2070 TFLOPS
BodySource [46]	Same: 31 DoF, 140 N·m peak torque, 10 kg with both arms, 3 m/s	Same: 31 DoF, 140 N·m peak torque, 10 kg with both arms, 3 m/s

T2 editions named "P3" and "P4" were found in no official Booster source (nine GitHub repositories, SDK headers, the PyPI package, manufacturer page text); they are not on this page.

Booster T2 product page

Booster T1: end-effector configurations

Item	Base	With gripper	With dexterous hand
Total DoFSource [47]	23	31 (end effector included)	41 (end effector included)
ArmSource [47][60]	4	7 plus gripper	7 plus a 6-DoF hand
ProcessorSource [47]	NVIDIA AGX Orin (200 TOPS); which configuration has the Intel i7-1370P could not be confirmed	NVIDIA AGX Orin (200 TOPS); which configuration has the Intel i7-1370P could not be confirmed	NVIDIA AGX Orin (200 TOPS); which configuration has the Intel i7-1370P could not be confirmed

The Basic, Standard and Customized names in the product record could not be confirmed at the manufacturer source in this check; the table names the configurations by end effector.

Booster T1 product page

Booster K1: Geek, Education and Professional

Item	Geek	Education	Professional
AI computeSource [48][49]	48 TOPS (dense)	117 TOPS	200 TOPS
Battery and runtime (walking at 0.4 m/s)Source [48]	2 Ah, 30 minutes	5 Ah, 80 minutes	5 Ah, 80 minutes
WirelessSource [48]	Wi-Fi	Wi-Fi 6	Wi-Fi 6
Vision detection serviceSource [54]	Disabled (SDK)	No restriction documented	No restriction documented
Manufacturer warrantySource [48]	3 months	1 year	1 year

"K1 Pro" is the launch announcement's name for the Professional edition, not a separate model. The compute-to-edition mapping could not be confirmed independently in this check.

Booster K1 product page

EngineAI PM01: Business and Education editions

Item	Business	Education
DoFSource [84][87]	23 (product record)	24 (confirmed in the official model)
CamerasSource [84][87]	None (product record)	Two cameras, head and torso
ComputeSource [84][95]	4-core CPU (product record)	CPU and NVIDIA Orin (official repository; product record: Orin NX 16 GB)
Secondary developmentSource [84][91]	None (product record)	Yes: native SDK and ROS 2

The official repositories publish only the "PM01 Edu" and a navigation model with LiDAR; the Business edition values come from the product record and could not be confirmed in this check. The engineai_rl_workspace repository cited by the product record no longer opens.

EngineAI PM01 product page

AgiBot X2: base, Ultra and EDU

Item	X2	X2 Ultra	X2 EDU
DoFSource [66][68][71]	25	31	29 (official model file)
PerceptionSource [66]	Interaction RGB camera	3D LiDAR, RGB-D, binocular and rear RGB	Not confirmed
DevelopmentSource [70][72]	None	AimDK X2 (ROS 2, low-level joint control)	Announced as a development platform; scope not confirmed
End-effector payloadSource [67][72]	3 kg in specific postures	3 kg in specific postures	Up to 3 kg
Maker's maintenance serviceSource [66]	8 months	18 months	Not documented

The X2 EDU was announced on 18 July 2026; its weight, compute and SDK scope could not be read at an official source in this check, so it is not in the main table.

AgiBot X2 product page

Unitree H2: standard, EDU and PLUS (class above)

Item	H2	H2 EDU	H2 PLUS
Secondary developmentSource [39]	None	Yes	Not documented
HandsSource [39][40]	Not documented	Option; models not found	22 DoF per hand; 75 in total
Manufacturer warrantySource [39][40]	8 or 12 months (mapping not written)	8 or 12 months (mapping not written)	12 months

Unitree G1 and H2 differences

Technical notes before deciding

The six points that most often mislead a comparison. The table's row split follows these notes.

How degrees of freedom are counted

In Unitree's official model table the G1's 23-DoF configuration is 6 joints per leg, 1 in the waist and 5 per arm; the 29-DoF configuration has 3 in the waist and 7 per arm. The Dex3-1 hand adds 7 active joints per hand, so "43 DoF" is a total that includes both hands. The table compares excluding hands and lists hands on their own row.

TOPS is not joint torque

TOPS or TFLOPS is the AI inference capacity of the development computer; it has nothing to do with the force a joint produces. Makers do not even use the same unit: Jetson modules are quoted in sparse INT8 TOPS, some editions in dense TOPS, and Jetson Thor in FP4 TFLOPS. The compute row therefore gets no automatic comparison.

Peak and rated torque

Peak torque can be produced briefly; rated (continuous) torque can be held for long periods without overheating. Most makers publish only the peak figure and do not always say which joint it is. Knee, hip and unspecified torque are therefore separate rows; a figure from an actuator catalogue is not taken as a knee's actual torque.

Arm payload is not what the hand can carry

A figure such as "arm maximum load about 2 kg" is the limit the arm carries in a given posture. The limit drops as the arm extends; grip force, finger contact area and wrist torque are separate limits. A dual-arm maximum (for example 10 kg) is not twice a single arm and cannot be split per arm.

Bending forward is not picking from the floor

Picking a box off the floor needs a deep squat (knee and hip range), waist pitch, arm reach to the floor, whole-body balance under load and object perception together. None of the compared models documents this as a ready feature. Even on capable bodies it needs a whole-body control policy to be developed and tested under load.

Development access depends on the edition

At Unitree, secondary development belongs to the EDU editions; the standard edition of the same body is a closed system. Access varies by edition at other brands too. An official SDK supporting a robot family does not mean every edition of that family gets joint-level access; the table states access edition by edition.

Example tasks: what they need and which model is a candidate

For six concrete tasks: the hand and force sensing, reach, perception, software, safety and validation test they require. Candidate status is derived only from documented hardware and software scope.

Manufacturer demo videos are not field validation. A task seen in a video does not count as a capability until it is shown to be repeatable in your environment with the same edition and software; every task is validated with an acceptance test before a pilot.

1. Grasping a 2.5 L bottle and placing it on a scale

A full 2.5 L water bottle weighs over 2.5 kg with bottle and cap. What decides it is the documented per-arm payload, a hand that wraps the cylindrical body and a controlled release onto the scale.

Hand and force sensing: A dexterous hand or a wide-opening gripper that wraps the cylinder. Tactile or force feedback against slipping; grip force and finger contact area are limits separate from arm payload.
Reach and payload: The documented per-arm maximum should be clearly above 2.5 kg. Maker figures depend on arm posture; the bottle is carried close to the body and the scale is placed within comfortable reach.
Perception: Bottle and scale positions from the depth camera. A transparent bottle can corrupt depth readings; testing also uses a labelled or coloured bottle.
Software: Grasp-point detection, arm trajectory and release. The imitation-learning route needs demonstrations collected by teleoperation and policy training.
Safety: A dropped full bottle damages the scale and its surroundings. First trials use an empty and a half-full bottle on a table with edge protection.
Validation test: 20 consecutive trials with the same bottle and scale; success rate, placement deviation and drops are logged. The acceptance criterion is written into the quote.

Candidates and why

Unitree G1 EDUNeeds extra hardware/software and testing
Arm maximum load is about 3 kg and posture-dependent; 2.5 kg is close to that limit. Needs a close-to-body grasp with the Dex3-1 tactile hand or the Dex1-1 gripper, and load testing.
Unitree H2 EDUNeeds extra hardware/software and testing
About 7 kg rated arm payload leaves enough margin. The EDU hand options were not found in this check; the end effector must be settled in the quote.
AgiBot X2 UltraNeeds extra hardware/software and testing
Up to 3 kg in specific postures, 1 kg or less across the full reach; 2.5 kg only close to the body. Needs load testing with the OmniHand or OmniPicker.
Booster T2 ProfessionalNot documented
10 kg with both arms is documented; no single-arm figure or hand sale option is documented.
Unitree R1 EDUNot suitable
Arm payload is about 2 kg; a full 2.5 L bottle exceeds it.
Unitree G1 (Basic)Not suitable
No hands and no secondary development.

2. Reading the scale and making a quality-control decision

The core work is perception and decision software; a hand is needed only if items are sorted. The most reliable route is connecting the scale's data output to the robot; reading the display is the fallback.

Hand and force sensing: Reading needs no hand. If rejected items are separated, the hand and payload requirements of the first task apply.
Reach and payload: The camera must see the scale display head-on. On a body without head joints, the view comes from body posture and station layout.
Perception: Reading the display needs digit recognition on the RGB image, with steady lighting against glare and angle errors. If the scale has RS-232, USB or network output, the value is read directly.
Software: A weight-tolerance rule, sorting or alerting on the result, and logging with traceability.
Safety: A misread is a quality defect. In the first phase the robot's decision runs alongside human confirmation.
Validation test: At least 50 readings with known weights; reading accuracy, false-accept and false-reject rates are reported.

Candidates and why

Unitree G1 EDUNeeds extra hardware/software and testing
A head depth camera (a RealSense D435i per the official documentation) and a development computer; the reading or scale-integration software is developed.
AgiBot X2 UltraNeeds extra hardware/software and testing
RGB-D and front binocular RGB cameras, Orin NX and a ROS 2 based SDK; the reading software is developed.
Booster T2 ProfessionalNeeds extra hardware/software and testing
Binocular cameras in the head and waist and a Jetson Thor T5000; the reading software is developed.
EngineAI PM01 EduNeeds extra hardware/software and testing
Two camera frames in the head and torso and an NVIDIA Orin host; the camera type is not stated in the model file.
Unitree R1 EDUNeeds extra hardware/software and testing
A binocular camera and a 2-DoF head; the Jetson Orin module is optional and which edition takes it is not stated.
Unitree G1 (Basic)Not suitable
No secondary development; custom reading software cannot run.

3. Screwing on a cap and measuring torque

Turning a cap is a hand skill; measuring its torque is a separate measurement job. None of the compared models documents a wrist force/torque sensor, and torque estimated from joint current does not replace a calibrated measurement.

Hand and force sensing: Continuous turning with the fingers or wrist rotation, plus tactile feedback. For torque, a calibrated external torque meter or a wrist force/torque sensor is added.
Reach and payload: The bottle is held by a fixture or the second hand; both hands work together.
Perception: Close-range vision to align the cap with the bottle neck; a wrist camera makes this easier.
Software: Control for alignment, turning and stopping at the target torque; force-controlled grasping.
Safety: Excess torque strains the bottle or the hand mechanism; the torque limit is enforced in software and mechanically with a torque-limiting adapter.
Validation test: A comparison test against a calibrated torque meter; target torque and tolerance, missed caps and stripped threads are logged.

Candidates and why

Unitree G1 EDUNeeds extra hardware/software and testing
Tactile arrays on the Dex3-1 hand and a 7-DoF arm with the optional wrist axes; torque measurement needs an external torque meter or wrist-sensor integration.
AgiBot X2 UltraNeeds extra hardware/software and testing
An OmniHand dexterous hand option and 7-DoF arms; no tactile feature was found in this check and torque needs an external meter.
Unitree R1 EDUNeeds extra hardware/software and testing
An optional dexterous hand (7 per hand) and a wrist roll axis; the hand model and tactile features are not documented and torque needs an external meter.
Booster T2 ProfessionalNot documented
Hand sale options are not documented.
Unitree H2 EDUNot documented
The EDU hand options and hand sensing were not found in this check.
AgiBot X1Not documented
The end effector is an OmniPicker gripper; turning with the gripper through the wrist is not documented.

4. Picking a box off the floor and putting it on a table

Bending forward is not enough: a deep squat, a waist pitch axis, arm reach to the floor and balance while rising under load are all needed. None of the compared models documents it as a ready function.

Hand and force sensing: Clamping the box from the sides with both hands or lifting from below; the box weight and surface friction must be known.
Reach and payload: Knee and hip range, a waist pitch axis and arm length must reach the floor. The box weight must stay below the documented dual-arm figure.
Perception: Perception of the box on the floor and the table; a camera that can see around the feet during the approach.
Software: A whole-body control policy combining squat, grasp, rise, walk and release; trained in simulation and validated under load.
Safety: The fall risk under load is high; first trials start with a gantry or safety rope and an empty box.
Validation test: 20 consecutive trials at each step with an empty, half and target-weight box; falls, dropped boxes and placement are logged.

Candidates and why

Unitree H2 EDUNeeds extra hardware/software and testing
A waist pitch axis (model file: -25° to 30°), 7-DoF arms and about 7 kg rated arm payload; needs a whole-body policy and load testing on a gantry.
Booster T2 ProfessionalNeeds extra hardware/software and testing
Waist pitch -43° to 32° and knee 0° to 148° (model file), up to 10 kg with both arms; with no documented hand option it needs a two-arm clamp or a gripper.
Unitree G1 EDUNeeds extra hardware/software and testing
An optional waist pitch (±30°) and up to 165° of knee in the model file; about 3 kg arm payload limits it to light boxes. The official API offers squat and stand-up transitions; floor picking has to be developed.
AgiBot X2 UltraNot documented
It has a 3-DoF waist and 7-DoF arms; knee and waist ranges were not found in this check.
AgiBot X1Not documented
Waist pitch -17° to 90° (MuJoCo model) and 7-DoF arms; the knee is limited to 103° and arm payload could not be verified.
Unitree R1 EDUNot documented
No waist pitch axis; arm payload about 2 kg.
Booster K1 EducationNot suitable
No hands and no waist joint; the arms have 4 DoF.

5. Museum mapping and location-based narration

The robot maps the hall, knows its position and starts the matching narration in front of each exhibit. Perception hardware, runtime and development access decide it; no hands are needed.

Hand and force sensing: Not needed.
Reach and payload: Long walking and standing periods: runtime and battery swapping decide it. Low speed in crowds.
Perception: 3D LiDAR or a depth camera for mapping and localisation; glass cases and glossy surfaces can corrupt measurements. An RGB camera for visitor perception.
Software: Mapping and localisation, location-triggered content, speech (microphone array and speaker) and obstacle avoidance are set up on the robot. EngineAI PM01 has an official LiDAR navigation repository.
Safety: Risk of falls and collisions near visitors: speed limit, safety zone, staff supervision and an emergency-stop procedure.
Validation test: Mapping after hours, then a supervised pilot during visiting hours; position error, narration starting at the right spot and the number of interventions are logged.

Candidates and why

Unitree G1 EDUNeeds extra hardware/software and testing
3D LiDAR and a depth camera as standard, a 4-microphone array and a speaker; about 2 hours and a quick-release battery. Mapping and narration software is set up.
AgiBot X2 UltraNeeds extra hardware/software and testing
3D LiDAR, RGB-D, front binocular and rear RGB cameras; about 2 hours walking at 0.5 m/s. Mapping software is set up on the ROS 2 based SDK.
EngineAI PM01 EduNeeds extra hardware/software and testing
The official navigation repository states real-robot validation with a Livox Mid-360; whether the LiDAR is standard and the audio hardware are not documented.
Booster T2 ProfessionalNeeds extra hardware/software and testing
An optional LiDAR, binocular cameras in the head and waist, a microphone array and a speaker; 2 hours of continuous walking.
Unitree R1 EDUNot documented
No LiDAR in the specification table; runtime is about 1 hour.
Unitree G1 (Basic)Not suitable
It has LiDAR and a camera but no secondary development; mapping and narration software cannot be installed.

6. A 7-8 kg grasp and carry pilot

At this load what decides it is the documented payload, balance while walking under load and the end effector's own carrying limit. Only two bodies in the table document 7 kg or more: the Unitree H2 (arm payload; single or dual arm not stated) and the Booster T2 (both arms).

Hand and force sensing: Grip force and finger contact area are limits separate from arm payload; the end effector's rated load is requested in writing from the maker. Carrying with both hands or by wrapping the arms is considered.
Reach and payload: The documented payload must exceed 7-8 kg (per arm or dual arm). The load is carried close to the body; the limit drops as the arm extends.
Perception: Object position, grasp point and a view ahead of the feet while carrying.
Software: A whole-body balance policy under load, load estimation and controlled release.
Safety: A dropped 7-8 kg load is dangerous for feet and surroundings: a gantry or safety rope, a safety zone and an emergency stop; the pilot runs in an area separated from people.
Validation test: Standing, lifting and a short walk at 2, 4, 6 and 8 kg; joint temperature, falls and lost grasps are logged. How load tests relate to the warranty is written into the quote.

Candidates and why

Unitree H2 EDUNeeds extra hardware/software and testing
Arm payload about 7 kg rated and about 15 kg peak (single or dual arm not stated); 8 kg sits above the rated value, so the pilot runs in the peak range.
Booster T2 ProfessionalNeeds extra hardware/software and testing
Up to 10 kg with both arms; 7-8 kg is close to that value and posture-dependent limits are not published. No hand option is documented.
Booster T2 EducationNeeds extra hardware/software and testing
The same body and the same 10 kg dual-arm figure; its compute could not be confirmed in this check.
Unitree G1 EDUNot suitable
Arm maximum load is about 3 kg.
AgiBot X2 UltraNot suitable
Up to 3 kg in specific postures.
Unitree R1 EDUNot suitable
Arm payload about 2 kg.

Outside the table: the full-size PUDU D9 states 10 kg on a single arm; it is listed with its source in the class-above section.

The class above and different use classes

Full-size models and models built for a different use do not compete with the G1 in the same table. The human-height Unitree H2 sits next to the G1 EDU in the separate table below; the others are given in short cards with their sources.

G1 EDU and the Unitree H2 editions

Technical comparison of the Unitree G1 EDU with the class-above Unitree H2 editions. The number in brackets links to the source list.
Specification	UnitreeG1 EDUEDU (23 to 43 DoF configurations)Baseline	UnitreeH2StandardClass above	UnitreeH2 EDUEDUClass above
Body size and weight	G1 EDU	H2	H2 EDU
Height and dimensionsStanding; height × width × depth	1320 × 450 × 200 mm; folded 690 × 450 × 300 mmSource [1]	1820 × 456 × 218 mmSource [39]	1820 × 456 × 218 mmSource [39]
Weight	About 35 kgwith batterySource [1]	About 70 kgwith batteryModel files give 71.3 to 75.6 kg (model values).Source [39]	About 70 kgwith batteryModel files give 71.3 to 75.6 kg (model values).Source [39]
Degrees of freedom (DoF)	G1 EDU	H2	H2 EDU
TotalExcluding hands; the with-hands figure is noted	23 or 29; 43 with two Dex3-1 hands29: with the optional waist and wrist axesSource [1][8]	31excluding handsSource [39][41]	31excluding handsSource [39][41]
LegPer leg	6Source [1][8]	6Source [39]	6Source [39]
Waist	1; optionally 3 (yaw, roll, pitch)Source [1][8]	3Source [39]	3Source [39]
ArmPer arm, excluding the hand	5; 7 with the optional wristSource [1][8]	7Source [39]	7Source [39]
HandPer hand, active	Dex3-1: 7 active per hand; Inspire: 6 active (12 joints); Dex1-1 gripperOptionSource [1][8]	Not documented	Not documentedA dexterous hand is mentioned as an EDU option; which models are offered was not found in this check. The H2 PLUS comes with 22-DoF hands.Source [39][40]
Head and neck	None; the depth camera and LiDAR are fixed to the torsoSource [8][9]	2Source [39]	2Source [39]
Joints, actuators and torque	G1 EDU	H2	H2 EDU
Motor and joint design	Low-inertia, high-speed internal-rotor PMSM. The official training config uses N7520, N5020 and W4010 motorsSource [1][11]	Low-inertia, high-speed internal-rotor PMSM; industrial crossed roller bearingsSource [39]	Low-inertia, high-speed internal-rotor PMSM; industrial crossed roller bearingsSource [39]
Knee torqueManufacturer figure; peak and rated stated separately	120 N·mmaximum, maker's tableSource [2]	Not documentedThe maker gives one peak figure for the leg (360 N·m); the knee is not stated separately.	Not documentedThe maker gives one peak figure for the leg (360 N·m); the knee is not stated separately.
Hip torqueManufacturer figure	Not documentedNot on the datasheet. The model file gives hip pitch 88 N·m (rev 1.0) or 139 N·m (newer revisions).Source [9][10]	Not documentedThe maker gives one peak figure for the leg (360 N·m).	Not documentedThe maker gives one peak figure for the leg (360 N·m).
Peak torque, joint not statedCatalogue or module figure; not a knee or hip value	Not documentedThe maker's table gives only the knee torque.	Leg joint peak 360 N·m; arm joint peak 120 N·mThe arm figure was seen only on the H2 PLUS page; the model file gives shoulder pitch 130 N·m.Source [39][40]	Leg joint peak 360 N·m; arm joint peak 120 N·mThe arm figure was seen only on the H2 PLUS page; the model file gives shoulder pitch 130 N·m.Source [39][40]
Torque limit in the model fileOfficial URDF/MJCF; knee and hip pitch	Knee 139 N·m; hip pitch 88 N·m (rev 1.0) or 139 N·m (newer revisions)Not the same definition as the datasheet knee torque; one does not replace the other.Source [9][10]	Knee 360 N·m, hip pitch 360 N·mSource [41]	Knee 360 N·m, hip pitch 360 N·mSource [41]
Reach and picking from the floor	G1 EDU	H2	H2 EDU
Arm length and reach	Not documentedMeasured from the official model file: about 41 cm from the shoulder axis to the palm frame (fingers excluded; not a manufacturer figure).Source [9]	Not documentedMeasured from the model file: upper arm 272 mm, elbow to wrist 134 mm (not a manufacturer figure).Source [41]	Not documentedMeasured from the model file: upper arm 272 mm, elbow to wrist 134 mm (not a manufacturer figure).Source [41]
Knee and hip range of motionSets the squat limit	ConflictingModel file: knee -5° to 165°, hip pitch -145° to 165°The maker's table values in the product record (knee 0° to 165°, hip pitch ±154°) could not be confirmed in this check and do not match the model file.Source [1][9]	Model file: knee -5° to 145°, hip pitch -140.5° to 159°Source [41]	Model file: knee -5° to 145°, hip pitch -140.5° to 159°Source [41]
Waist motionWaist pitch axis for bending forward	Yaw ±150°; optional roll and pitch ±30° (model file)Source [1][9]	Model file: yaw ±100°, roll ±30°, pitch -25° to 30°Source [41]	Model file: yaw ±100°, roll ±30°, pitch -25° to 30°Source [41]
Picking from the floorReady feature or development work	Not documentedThe official API offers squat-to-stand and lie-to-stand transitions; picking objects from the floor is not documented. With the optional waist pitch and a dexterous hand it needs development and load testing.Source [17]	Not documentedIt has a waist pitch axis and 7-DoF arms; picking from the floor is not documented as a ready function.	Not documentedIt has a waist pitch axis and 7-DoF arms; picking from the floor is not documented as a ready function.
Payload	G1 EDU	H2	H2 EDU
Payload per armMaximum or rated; with its condition	About 3 kgmaker: arm maximum load; varies greatly with arm extension, single or dual arm not statedSource [1][2]	Rated about 7 kg; peak about 15 kgmaker: arm maximum payload; single or dual arm not statedSource [39]	Rated about 7 kg; peak about 15 kgmaker: arm maximum payload; single or dual arm not statedSource [39]
Dual-arm payload	Not documentedThe maker publishes no dual-arm figure.	Not documented	Not documented
Hands, grippers and touch sensing	G1 EDU	H2	H2 EDU
Hand and gripper options	Dex3-1 three-finger hand, Dex1-1 parallel gripper, Inspire DFX and FTP five-finger hands; the official teleoperation tool also supports the BrainCo handOptionSource [1][25][28][29]	Not documented	Not documentedEDU hand options were not found in this check.Source [39]
Tactile and force sensing	Tactile arrays on the Dex3-1 (maker: 33 sensors per hand; the SDK reads 9 pressure records per hand). The Inspire DFX service takes position commands onlyOptionSource [6][16][29]	Not documented	Not documented
Perception: cameras, LiDAR, IMU	G1 EDU	H2	H2 EDU
Head and body cameras	Depth camera; an Intel RealSense D435i according to the official teleoperation documentationSource [1][9][26]	Wide-angle binocular camera (head)Source [39][41]	Wide-angle binocular camera (head)Source [39][41]
Wrist camera	Not documentedThe official teleoperation documentation lists two RealSense D405 wrist cameras as a do-it-yourself data-collection add-on; not a factory option.Source [26]	Not documented	Not documented
LiDAR	3D LiDAR; model files carry a MID-360 mounting frameSource [1][9]	Not documented	Not documented
IMU	Two IMUs, torso and pelvis (model not stated)Source [9][21]	IMUs in the torso and pelvis (model file)Source [41]	IMUs in the torso and pelvis (model file)Source [41]
Microphones and speaker	4-microphone array, 5 W speakerSource [1]	Microphone array, high-power speakerSource [39]	Microphone array, high-power speakerSource [39]
Processor, GPU and memory	G1 EDU	H2	H2 EDU
Control processor	8-core high-performance CPU (PC1, motion control)Source [1]	PC1: Intel Core i5 (platform capabilities)Source [39]	PC1: Intel Core i5 (platform capabilities)Source [39]
Development computer, GPU and memory	PC2: NVIDIA Jetson Orin NX (official repository); the maker says "multiple brands and models, such as Orin"; memory not statedOptionSource [1][28]	PC2: Intel Core i7 (custom development); an optional NVIDIA Jetson T5000 on the H2 PLUS pageThe page does not split it by edition; secondary development is on the EDU only.Source [39][40]	PC2: Intel Core i7 (custom development); an optional NVIDIA Jetson T5000 on the H2 PLUS pageThe page does not split it by edition; secondary development is on the EDU only.Source [39][40]
AI computeIn the maker's unit; TOPS and TFLOPS are not compared	Not documentedThe maker publishes no TOPS figure for the G1 EDU. 100 TOPS appears only on the G1-D and G1-Comp pages; 157 TOPS was found in no Unitree source.Source [1]	2070 TOPS chip (H2 page); Jetson T5000 2070 TFLOPS FP4 (H2 PLUS page)OptionWhich edition and slot take it is not stated.Source [39][40]	2070 TOPS chip (H2 page); Jetson T5000 2070 TFLOPS FP4 (H2 PLUS page)OptionWhich edition and slot take it is not stated.Source [39][40]
Battery, runtime and charging	G1 EDU	H2	H2 EDU
Battery	9000 mAh, 13-cell lithium, quick-release smart batterySource [2]	15 Ah (0.972 kWh), 75.6 V maximum; quick-releaseSource [39]	15 Ah (0.972 kWh), 75.6 V maximum; quick-releaseSource [39]
RuntimeManufacturer figure and test condition	About 2 hourstest condition not statedSource [2]	About 3 hourscondition not statedSource [39]	About 3 hourscondition not statedSource [39]
Charging	54 V 5 A charger; charge time not statedSource [2]	Not documented	Not documented
Speed and balance	G1 EDU	H2	H2 EDU
Maximum speed	Could not verify2 m/sThe product-record value was not found at the manufacturer source in this check; the SDK offers a speed mode without m/s figures.Source [1]	Not documentedWalking speed was not found in this check.	Not documentedWalking speed was not found in this check.
Obstacles, slopes and balance	The official API has squat-to-stand, lie-to-stand (on flat, hard ground) and balance standSource [17]	Not documented	Not documented
ROS 2, SDK and joint-level control	G1 EDU	H2	H2 EDU
SDK and languages	unitree_sdk2 (C++, CycloneDDS; Ubuntu 20.04, aarch64 and x86_64) and unitree_sdk2_python (PyPI: unitree-sdk2)Source [12][18]	Secondary development on the H2 EDU onlySource [39]	unitree_sdk2 and the Python SDK: 31 motors, locomotion, arm and dual-arm examplesSource [12][42]
ROS 2	unitree_ros2: Foxy and Humble; G1 low-level, Dex3-1, locomotion, arm-action and audio examplesSource [19]	Not usable on the robot; secondary development is on the EDUSource [39]	H2 low-level and locomotion examples in unitree_ros2Source [43]
Joint-level controlPosition, velocity, feed-forward torque, kp/kd	LowCmd: q, dq, tau, kp, kd per motor; 500 Hz in the official example; the built-in motion service is released first. Upper-body commands can be blended with walking through arm_sdkSource [13][14][15]	None; requires the H2 EDUSource [39]	LowCmd: 31 motors, q, dq, kp, kd, tau; PR/AB modes for the ankle and waistSource [42]
Which edition gets development access	G1 EDU only; the standard G1 does not support secondary development. The simulation repositories are publicSource [1][3]	H2 EDU onlySource [39]	H2 EDU onlySource [39]
Open-source scopeHardware design, software and licence	SDK, ROS 2 package, URDF/MJCF, training, teleoperation and data repositories on GitHub; no hardware design files were foundSource [8][12][25]	SDK, ROS 2 examples and URDF/MJCF on GitHub; no hardware design files were foundSource [41][42]	SDK, ROS 2 examples and URDF/MJCF on GitHub; no hardware design files were foundSource [41][42]
Simulation	G1 EDU	H2	H2 EDU
URDF / MJCF	URDF and MJCF: 23- and 29-DoF bodies with Dex3-1, Inspire and Dex1-1 variants; the USD model moved to Hugging FaceSource [8][30]	URDF (H2, closed-chain H2_loop) and MJCF; no USD or Isaac Lab asset foundSource [21][41]	URDF (H2, closed-chain H2_loop) and MJCF; no USD or Isaac Lab asset foundSource [21][41]
MuJoCo and IsaacOfficial training and deployment repos	MuJoCo (unitree_mujoco, same DDS as the robot), Isaac Gym (unitree_rl_gym), Isaac Lab (unitree_rl_lab, unitree_sim_isaaclab), mjlab (unitree_rl_mjlab)Source [11][21][22][23][24]	MuJoCo (unitree_mujoco, unitree_rl_mjlab)Source [21][24]	MuJoCo (unitree_mujoco, unitree_rl_mjlab)Source [21][24]
Teleoperation and data collection	G1 EDU	H2	H2 EDU
Teleoperation	xr_teleoperate: Apple Vision Pro, PICO 4 Ultra Enterprise, Meta Quest 3 and 3S; G1 29 and 23 DoFSource [25][26]	Not documentedThe official tool supports the H2; the standard edition has no secondary development.Source [25]	xr_teleoperate supports the H2Source [25]
Data collection and imitation learning	unitree_lerobot: LeRobot v3.0 datasets; G1 with Dex1, Dex3, Inspire and BrainCo configurationsSource [27]	Not documented	Recording through xr_teleoperate; unitree_lerobot has no H2 configurationSource [25][27]
Supply in Turkey, warranty and quote	G1 EDU	H2	H2 EDU
Supply and service in Turkey	Stock, warranty, installation and service: Robotlar.org (Unitree partner in Turkey)Source [138]	Stock, warranty, installation and service: Robotlar.org (Unitree partner in Turkey)Source [138]	Stock, warranty, installation and service: Robotlar.org (Unitree partner in Turkey)Source [138]
Manufacturer warranty	18 monthsSource [1]	Could not verify8 monthsThe maker lists 8 and 12 month options; the page does not state which edition gets which.Source [39]	Could not verify12 monthsThe maker lists 8 and 12 month options; the page does not state which edition gets which.Source [39]
Price and quote status	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]	By quote; no list price is publishedSource [140]

PUDU D9

A full-size biped: 170 cm and 65 kg, 42 DoF including hands, 7-DoF arms, 352 N·m maximum joint torque, 10 kg on a single arm and the tactile DH11 hand. Robotlar.org is the PUDU Robotics distributor in Turkey; supply and commissioning scope are written into the quote.Source [125]

PUDU D9 product page

Unitree G1-D

A different use class: not a biped but a fixed or wheeled-base platform for end-to-end data collection and training. The maker's page lists Orin NX 16 GB (100 TOPS); that figure does not belong to the G1 EDU.Source [44][45]

Unitree G1-D product page

Models outside the table

The three models below are G1-class and their makers show sales or delivery evidence; they are not in our catalogue, so they have no table columns. Values follow the same sourcing rule. Supply, warranty and service scope in Turkey were not assessed for these models in this comparison.

MagicLab

MagicBot Z1

The maker documents two editions: the Z1 and the Z1 Development Edition. Per the SDK document's specification table, secondary development exists only on the Development Edition.Source [114][115]

Height and weight: 1369 mm; about 40 kg with battery (Development Edition above 40 kg)Source [115]
Degrees of freedom: 24 (leg 6, waist 1, head 1, arm 5); up to 50 on the Development Edition with wrist and hand optionsSource [115]
Knee torque: 100 N·m maximum (Z1), 130 N·m (Development Edition); laboratory conditionsSource [115]
Arm payload: 2 kg maximum (Z1), 3 kg (Development Edition); laboratory conditions, single or dual arm not statedSource [115]
Hand: An optional 11-DoF tactile dexterous hand on the Development EditionSource [115]
Perception: Livox MID-360 LiDAR, Intel D435 depth camera and a binocular fisheye camera in the headSource [115]
Development: Development unit NVIDIA Jetson Orin NX 16 GB; C++ and Python SDK, low-level joint state at 500 Hz by default, a ROS 2 bridge exampleSource [115]
Battery: 10,000 mAh, quick-release; about 2 hours (laboratory conditions)Source [115]
Model file: URDF and MJCF (23 joints in the model)Source [116]

Not found: Top speed, a TOPS figure, battery capacity in Wh, warranty and supply scope for Turkey were not found in this check.

Noetix Robotics

Noetix N2

The maker's delivery announcement reports 105 humanoids delivered in July 2025 in total (13 of them E1). The developer edition is the N2 EDU.Source [117][119]

Size and weight: 118 × 47 × 29 cm, 30 kgSource [117]
Degrees of freedom: 18 (leg 5, arm 4); no hands and no waist jointSource [118][120]
Knee torque: 150 N·m; the model file also limits hip pitch and knee at 150 N·mSource [118][120]
Speed: 3.2 m/s top running speedSource [118]
Compute: NVIDIA Jetson Orin, 40 TOPS, 8 GB; 6+67 TOPS for the EDUSource [117]
Perception and audio: Two structured-light depth cameras; 4 microphones, 1 speakerSource [117]
Joint control: C++ SDK with Python bindings; position, velocity, torque, kp and kd per joint (CycloneDDS)Source [121]
Simulation: Isaac Gym training environment, URDF and MJCF, sim2simSource [120]

Not found: Arm payload, battery and runtime, warranty and supply scope for Turkey were not found in this check. With wristless 4-DoF arms and no hands it sits closer to the Booster T1 and K1 than to the G1 EDU for manipulation.

Noetix Robotics

Noetix E1

The maker's delivery announcement reports 13 E1 units delivered in July 2025. The E1 EDU was announced with a secondary-development interface; the official specification table could not be read in this check.Source [119][122]

Height: About 1.4 mSource [122]
Degrees of freedom (model): 24 in the official model (leg 6, waist 2, arm 5); hand and 7-DoF arm options are not modelledSource [123]
Mass (model): 41.6 kg; a model value, not a datasheet weightSource [123]
Torque (model): Hip pitch and knee 120 N·m (model-file limit)Source [123]
Expansion: Dexterous hand and LiDAR expansion kitsSource [122]
Joint control: C++ SDK with Python bindings; position, velocity, torque, kp and kd per joint; hand data publishingSource [124]
Simulation: Isaac Lab 2.2.1 and Isaac Sim 5.0 project, URDF and MJCFSource [123]

Not found: The official weight, torque, compute, battery, speed, arm payload, warranty and supply scope for Turkey were not found in this check.

Not presented as alternatives

Models that were assessed but left out of the comparison, and why. A body whose sales status cannot be verified, that is full-size, or that is a prototype is not shown as a G1 alternative.

X-Humanoid Tien Kung Omni
G1-class in size (135 cm, 39.5 kg, 31 DoF). The maker announced its market launch on 20 August 2026; no order page, delivery evidence or official model file was found in this check. It stays out of the table until its sales status is verified.Source [126][127]
Product page
Galbot ET1
The values in our product record (1250 mm, 32 kg, 26 DoF) could not be reconfirmed on the maker's page in this check; it stays out of the table until they are. The maker targets performance and interaction scenarios.Source [137]
Product page
Galileo GH1
The maker's site has only a general purchase and cooperation inquiry form; no official specification table, order page or delivery evidence was found in this check.Source [128]
Product page
DEEP Robotics DR01
The maker presents it as a research platform; no official height, weight, ordering or delivery information was found in this check.Source [129]
Product page
Figure 03, Tesla Optimus
Full-size bodies. The maker's introduction gives the Figure 03 as 173 cm and 61 kg; a supply request is assessed project by project. For the Tesla Optimus no official source with an on-sale edition or ordering information was found in this check.Source [136]
Product page Unitree G1 vs Tesla Optimus
LimX Oli, Dobot Atom, RobotEra STAR1, Fourier GR-3
Full-size class: the LimX Oli is 165 cm; the Dobot Atom is full-size by its maker's description; the RobotEra STAR1's official model has 55 DoF (24 in the hands) and 64 kg; the Fourier GR-3's official model has 31 joints and 69.7 kg. These bodies should be compared with the H2 and D9 in the class above, not with the G1.Source [130][131][132][133]
K-Scale K-Bot, RoboParty ROBOTO_ORIGIN
Prototype or do-it-yourself project: the K-Bot repository still says "public alpha" (last updated November 2025); ROBOTO_ORIGIN describes itself as an open-source running and jumping prototype. Not assessed as a commercial product.Source [134][135]

Supply, warranty, service and price in Turkey

Unitree bodies (G1, G1 EDU, G1+, R1, H2): as the Unitree partner in Turkey, Robotlar.org provides stock, warranty, spare parts, installation and technical service under one responsibility. The warranty period and scope are written into the quote; the period in the table is the manufacturer's declared warranty.

Booster, EngineAI, Fourier and AgiBot bodies: corporate procurement, technical specification support and integration engineering. Supply to Turkey is planned project by project; import, delivery and commissioning scope are itemised in the quote.

Price: no list prices are published on the site. When comparing, put these on the same lines: development access (edition), compute unit, hand or end effector, battery and spare battery, warranty, and the acceptance test and installation scope. Two quotes cannot be compared until these items are equalised.

Request a quote

Tell us which editions you are comparing and what the task is; we will settle the edition, hand and compute choice together with the specification.

Sources

The [n] numbers in the table link to this list. Each source states its document date, last check date and how the check was made. Where sources disagree, the cell is marked "Conflicting".

Unitree

[1]Unitree G1 product page and specification tableProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/g1
[2]Unitree G1 product page, Chinese specification tableProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/cn/g1
[3]Unitree official store: G1 listingProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)States that the standard G1 "does not support secondary development".shop.unitree.com/products/unitree-g1
[4]G1 end hand disassembly and assembly guide (Basic, Standard, Advanced, Flagship edition names)User manual · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/images/G1-End Prosthetic Hand Disassembly and Assembly Gu...
[5]G1 Flagship A and B edition Dex3-1 hand guide V1.1User manual · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/images/G1-Flagship Version A&B Terminal Three-Fingered De...
[6]Unitree Dex3-1 dexterous hand product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/Dex3-1
[7]Unitree G1+ product pageProduct page · document date: September 2026 · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/G1plus
[8]unitree_ros: G1 model table (URDF/MJCF, DoF breakdown)Official model file (URDF/MJCF) · document date: 20 July 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros
[9]unitree_ros: G1 29-DoF model file (rev 1.0)Official model file (URDF/MJCF) · document date: 16 June 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros
[10]unitree_ros: G1 newer hardware revision model file (mode 15)Official model file (URDF/MJCF) · document date: 16 June 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros
[11]unitree_rl_lab: Isaac Lab training and G1 actuator definitionsOfficial GitHub repository · document date: 19 November 2025 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_rl_lab
[12]unitree_sdk2: C++ SDKOfficial GitHub repository · document date: 17 August 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2
[13]unitree_sdk2: joint command message (MotorCmd: q, dq, tau, kp, kd)Official GitHub repository · document date: 5 August 2024 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2
[14]unitree_sdk2: G1 low-level control exampleOfficial GitHub repository · document date: 26 December 2024 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2
[15]unitree_sdk2: G1 arm control while walking example (arm_sdk)Official GitHub repository · document date: 17 June 2025 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2
[16]unitree_sdk2: Dex3-1 hand exampleOfficial GitHub repository · document date: 21 January 2025 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2
[17]unitree_sdk2_python: G1 locomotion client (squat and stand-up transitions)Official GitHub repository · document date: 13 July 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2_python
[18]PyPI: unitree-sdk2 1.0.1Official software package · document date: 9 September 2025 · last checked: 25 September 2026 (primary file read)pypi.org/project/unitree-sdk2
[19]unitree_ros2: ROS 2 package and examplesOfficial GitHub repository · document date: 2 July 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros2
[20]unitree_ros2: shared low-level message (unitree_hg LowCmd)Official GitHub repository · document date: 10 December 2024 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros2
[21]unitree_mujoco: MuJoCo simulator with the robot's DDS interfaceOfficial GitHub repository · document date: 7 September 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_mujoco
[22]unitree_rl_gym: Isaac Gym training and sim2realOfficial GitHub repository · document date: 25 July 2025 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_rl_gym
[23]unitree_sim_isaaclab: Isaac Sim and Isaac Lab tasksOfficial GitHub repository · document date: 30 March 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sim_isaaclab
[24]unitree_rl_mjlab: MuJoCo-based training (G1, R1, H2)Official GitHub repository · document date: 13 April 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_rl_mjlab
[25]xr_teleoperate: XR headset teleoperation (v1.6)Official GitHub repository · document date: 3 August 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/xr_teleoperate
[26]xr_teleoperate: hardware list (head and wrist cameras)Official GitHub repository · document date: 11 May 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/xr_teleoperate
[27]unitree_lerobot: LeRobot datasets and imitation learningOfficial GitHub repository · document date: 25 May 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_lerobot
[28]dex1_1_service: Dex1-1 gripper service (PC2 Jetson Orin NX)Official GitHub repository · document date: 16 September 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/dex1_1_service
[29]dfx_inspire_service: Inspire DFX hand service (position commands only)Official GitHub repository · document date: 11 September 2025 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/dfx_inspire_service
[30]unitree_model: USD models (moved to Hugging Face)Official GitHub repository · document date: 1 June 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_model
[31]Unitree R1 product page and specification tableProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/R1
[32]Unitree R1 product page, Chinese specification tableProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/cn/R1
[33]Unitree official store: R1 spare batteryProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)shop.unitree.com/products/r1-battery
[34]Unitree R1 SDK development guideDeveloper documentation · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)Only the title and section names could be read in this check.support.unitree.com/home/en/R1_developer
[35]unitree_ros: R1 model fileOfficial model file (URDF/MJCF) · document date: 8 April 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros
[36]unitree_sdk2: R1 low-level control exampleOfficial GitHub repository · document date: 26 May 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2
[37]unitree_sdk2_python: R1 low-level exampleOfficial GitHub repository · document date: 21 September 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2_python
[38]unitree_mujoco: R1 MJCF modelOfficial model file (URDF/MJCF) · document date: 18 May 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_mujoco
[39]Unitree H2 product page and specification tableProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/H2
[40]Unitree H2 PLUS product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/mobile/H2plus
[41]unitree_ros: H2 model fileOfficial model file (URDF/MJCF) · document date: 8 July 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros
[42]unitree_sdk2: H2 low-level control exampleOfficial GitHub repository · document date: 15 June 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_sdk2
[43]unitree_ros2: H2 examplesOfficial GitHub repository · document date: 15 June 2026 · last checked: 25 September 2026 (primary file read)github.com/unitreerobotics/unitree_ros2
[44]Unitree G1-D product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)unitree.com/G1-D
[45]Unitree G1-D user manualUser manual · document date: undated · last checked: 18 September 2026 (product-record verification; not reopened this round)marketing.unitree.com/article/en/G1-D/User_Manual.html

Booster

[46]Booster T2 product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)booster.tech/booster-t2
[47]Booster T1 product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)booster.tech/booster-t1
[48]Booster K1 product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)booster.tech/booster-k1
[49]Booster K1 launch announcement (K1 Geek, K1 Edu, K1 Pro)Manufacturer announcement · document date: 30 October 2025 · last checked: 25 September 2026 (manufacturer page read via search index)prnewswire.com/news-releases/booster-robotics-unveils-booster-k1-ushe...
[50]Booster T1 product manual: specificationsUser manual · document date: undated · last checked: 18 September 2026 (product-record verification; not reopened this round)docs.booster.tech/docs/product-manual/t1/getting-started/specifications
[51]Booster K1 product manual: specificationsUser manual · document date: undated · last checked: 18 September 2026 (product-record verification; not reopened this round)docs.booster.tech/docs/product-manual/k1/getting-started/specifications
[52]booster_robotics_sdk: low-level topic definitions (K1, T1, T2)Official GitHub repository · document date: 15 September 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_robotics_sdk
[53]booster_robotics_sdk: locomotion API (drag, record, replay)Official GitHub repository · document date: 15 September 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_robotics_sdk
[54]booster_robotics_sdk: vision service (disabled on K1 Geek)Official GitHub repository · document date: 26 August 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_robotics_sdk
[55]booster_robotics_sdk_ros2: joint command message (MotorCmd)Official GitHub repository · document date: 14 November 2025 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_robotics_sdk_ros2
[56]PyPI: booster_robotics_sdk_python 1.6.3Official software package · document date: 16 September 2026 · last checked: 25 September 2026 (primary file read)pypi.org/project/booster_robotics_sdk_python/1.6.3
[57]booster_assets: T2 31-DoF model fileOfficial model file (URDF/MJCF) · document date: 28 August 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_assets
[58]booster_assets: T1 23-DoF model fileOfficial model file (URDF/MJCF) · document date: 28 August 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_assets
[59]booster_assets: K1 22-DoF model fileOfficial model file (URDF/MJCF) · document date: 28 August 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_assets
[60]booster_assets: K1, T1, T2 models with hand and gripper variantsOfficial GitHub repository · document date: 3 September 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_assets
[61]booster_deploy: MuJoCo sim2sim and real-robot deploymentOfficial GitHub repository · document date: 13 September 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_deploy
[62]booster_train: Isaac Lab tasks and actuator modelsOfficial GitHub repository · document date: 2 April 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_train
[63]booster_gym: Isaac Gym training for the T1Official GitHub repository · document date: 23 December 2025 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/booster_gym
[64]robocup_demo: K1 and T1 RoboCup software stackOfficial GitHub repository · document date: 26 June 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/robocup_demo
[65]robocup_demo: T2 branch (ROS 2 Kilted)Official GitHub repository · document date: 4 September 2026 · last checked: 25 September 2026 (primary file read)github.com/BoosterRobotics/robocup_demo

AgiBot

[66]AgiBot X2 product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)agibot.com/products/X2
[67]AgiBot official store: X2Product page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)store.agibot.com/products/x2
[68]AgiBot official store: X2 UltraProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)store.agibot.com/products/x2-ultra
[69]AimDK X2 developer documentation: onboard computerDeveloper documentation · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)x2-aimdk.agibot.com/en/latest/about_agibot_X2/onboard_computer.html
[70]AimDK X2: secondary development interfaces (Ultra edition)Developer documentation · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)x2-aimdk.agibot.com/en/latest/Interface/control_mod/index.html
[71]agibot_x2_urdf: X2 Ultra, X2 Ultra -N and X2 EDU model filesOfficial model file (URDF/MJCF) · document date: 21 September 2026 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x2_urdf
[72]AgiBot WAIC 2026 announcement (X2 EDU)Manufacturer announcement · document date: 18 July 2026 · last checked: 25 September 2026 (manufacturer page read via search index)agibot.com/article/231/detail/85.html
[73]AgiBot X1 product pageProduct page · document date: undated · last checked: 18 September 2026 (product-record verification; not reopened this round)agibot.com/products/X1
[74]agibot_x1_hardware: STEP, SolidWorks sources, drawings, bill of materials, assembly instructionsOfficial GitHub repository · document date: 18 April 2025 · last checked: 25 September 2026 (primary file read)The hardware repository has no licence file (a licence request has been open since 16 December 2024).github.com/AgibotTech/agibot_x1_hardware
[75]X1 bill of materials (24 October 2024)Technical document · document date: 24 October 2024 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_hardware
[76]X1 assembly instructions (kit contents, 7 March 2025)User manual · document date: 7 March 2025 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_hardware
[77]agibot_x1_infer: DCU driver and joint interfaceOfficial GitHub repository · document date: 1 April 2025 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_infer
[78]agibot_x1_infer: X1 joint list (29 joints and 2 grippers)Official GitHub repository · document date: 1 April 2025 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_infer
[79]agibot_x1_infer: AimRT inference stack (MulanPSL-2.0)Official GitHub repository · document date: 1 April 2025 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_infer
[80]agibot_x1_infer: X1 MuJoCo modelOfficial model file (URDF/MJCF) · document date: 1 April 2025 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_infer
[81]agibot_x1_train: X1 training model (URDF)Official model file (URDF/MJCF) · document date: 23 October 2024 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_train
[82]agibot_x1_infer: joystick speed limits (configuration)Official GitHub repository · document date: 1 April 2025 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_infer
[83]X1 toolkit list (charger)Technical document · document date: 7 March 2025 · last checked: 25 September 2026 (primary file read)github.com/AgibotTech/agibot_x1_hardware

EngineAI

[84]EngineAI PM01 product pageProduct page · document date: undated · last checked: 18 September 2026 (product-record verification; not reopened this round)en.engineai.com.cn/product-pm01.html
[85]PM01 user manual V1.0User manual · document date: 31 October 2025 · last checked: 18 September 2026 (product-record verification; not reopened this round)en-engineai-1304599088.cos.ap-guangzhou.myqcloud.com/uploads/upload/f...
[86]engineai_robotics_description: PM01 models (Edu v2, navigation v1)Official GitHub repository · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)The repository has no licence file.github.com/engineai-robotics/engineai_robotics_description
[87]PM01 Edu model file (URDF)Official model file (URDF/MJCF) · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_robotics_description
[88]PM01 navigation model (URDF with Livox frame)Official model file (URDF/MJCF) · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_robotics_description
[89]PM01 MuJoCo model (pm_v2)Official model file (URDF/MJCF) · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_ros2_workspace
[90]Native SDK: PM01 Edu joint configurationOfficial GitHub repository · document date: 4 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_robotics_native_sdk
[91]engineai_robotics_native_sdk: native on-robot controllerOfficial GitHub repository · document date: 4 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_robotics_native_sdk
[92]engineai_ros2_workspace: ROS 2 interface and deploymentOfficial GitHub repository · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_ros2_workspace
[93]engineai_ros2_workspace: joint command message (JointCommand)Official GitHub repository · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_ros2_workspace
[94]engineai_ros2_workspace: IMU messageOfficial GitHub repository · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_ros2_workspace
[95]engineai_ros2_workspace: onboard computers (nezha and orin)Official GitHub repository · document date: 14 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_ros2_workspace
[96]engineai_rl_lab: Isaac Lab whole-body tracking and AMPOfficial GitHub repository · document date: 20 September 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_rl_lab
[97]engineai_rl_lab: PM01 actuator configuration (Q90, Q25)Official GitHub repository · document date: 20 September 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_rl_lab
[98]engineai_navigation: LiDAR navigation with PM01 and Livox Mid-360Official GitHub repository · document date: 10 September 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/engineai_navigation
[99]GMR: retargeting human motion to the PM01Official GitHub repository · document date: 5 August 2026 · last checked: 25 September 2026 (primary file read)github.com/engineai-robotics/GMR

Fourier

[100]Fourier doc center: N1 introduction and core parametersUser manual · document date: undated · last checked: 18 September 2026 (product-record verification; not reopened this round)support-old.fftai.com/en/docs/GR-X-Humanoid-Robot/Fouriern1/N1_Introd...
[101]Fourier-GRX-N1 SDK documentationDeveloper documentation · document date: 17 July 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[102]Fourier-GRX-N1: joint sequence (23 DoF)Developer documentation · document date: 29 December 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[103]Fourier-GRX-N1: developer API and joint control modesDeveloper documentation · document date: 13 November 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[104]Fourier-GRX-N1: FAQ (control rate, operating system)Developer documentation · document date: 17 March 2026 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[105]Fourier-GRX-N1: fast-run task (3.5 m/s, with a stability warning)Developer documentation · document date: 17 March 2026 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[106]Fourier-GRX-N1: configuration file (USB IMU)Developer documentation · document date: 3 December 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[107]Fourier-GRX-N1: run modes (teleoperation not yet released)Developer documentation · document date: 17 March 2026 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[108]Fourier-GRX-N1: firmware release notesDeveloper documentation · document date: 17 March 2026 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier-grx-N1
[109]Wiki-GRx-URDF: N1 model file (Apache-2.0)Official model file (URDF/MJCF) · document date: 10 May 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/Wiki-GRx-URDF
[110]Wiki-GRx-MJCF: N1 MuJoCo model (Apache-2.0)Official model file (URDF/MJCF) · document date: 10 May 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/Wiki-GRx-MJCF
[111]Wiki-GRx-Gym: N1 Isaac Gym training (LGPL-3.0)Official GitHub repository · document date: 1 August 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/Wiki-GRx-Gym
[112]Wiki-GRx-Mujoco: N1 sim2sim (LGPL-3.0)Official GitHub repository · document date: 5 December 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/Wiki-GRx-Mujoco
[113]fourier_lab: Isaac Lab and the N1 modelOfficial GitHub repository · document date: 25 March 2026 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/fourier_lab

MagicLab

[114]MagicLab MagicBot Z1 product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)magiclab.top/en/z1
[115]MagicBot Z1 SDK document 1.2.6 (includes the specification table)Technical document · document date: 12 August 2026 · last checked: 25 September 2026 (primary file read)github.com/MagiclabRobotics/magicbot-z1_sdk
[116]magicbot-z1_description: URDF and MJCFOfficial model file (URDF/MJCF) · document date: 9 July 2026 · last checked: 25 September 2026 (primary file read)github.com/MagiclabRobotics/magicbot-z1_description

Noetix

[117]Noetix N2 product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)en.noetixrobotics.com/products-277.html
[118]Noetix Robotics home page (N2 figures)Product page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)noetixrobotics.com/en
[119]Noetix delivery announcement (July 2025)Manufacturer announcement · document date: July 2025 · last checked: 25 September 2026 (manufacturer page read via search index)noetixrobotics.com/news/brand-news/202
[120]noetix_n2_gym: N2 model fileOfficial model file (URDF/MJCF) · document date: 22 November 2025 · last checked: 25 September 2026 (primary file read)github.com/Noetix-Robotics/noetix_n2_gym
[121]noetix_sdk_n2: low-level SDKOfficial GitHub repository · document date: 16 September 2026 · last checked: 25 September 2026 (primary file read)github.com/Noetix-Robotics/noetix_sdk_n2
[122]Noetix E1 product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)noetixrobotics.com/en/e1
[123]noetix_e1_lab: E1 Isaac Lab project and 24-DoF modelOfficial model file (URDF/MJCF) · document date: 31 December 2025 · last checked: 25 September 2026 (primary file read)github.com/Noetix-Robotics/noetix_e1_lab
[124]noetix_sdk_e1: low-level SDKOfficial GitHub repository · document date: 16 September 2026 · last checked: 25 September 2026 (primary file read)github.com/Noetix-Robotics/noetix_sdk_e1

PUDU

[125]PUDU D9 product flyerTechnical document · document date: 3 January 2025 · last checked: 18 September 2026 (product-record verification; not reopened this round)cdn.pudutech.com/PUDU_D9_Product_Flyer_20250103_EN_0021e78f68.pdf

Other manufacturers (assessed, not compared)

[126]X-Humanoid Tien Kung Omni product pageProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)x-humanoid.com/detail/omni.html
[127]X-Humanoid announcement: Tien Kung Omni market launchManufacturer announcement · document date: 20 August 2026 · last checked: 25 September 2026 (manufacturer page read via search index)x-humanoid.com/news-view-291.html
[128]Galileo purchase and cooperation inquiry formProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)galileotime.com/zh/buyAndCooperate
[129]DEEP Robotics humanoid page (DR01)Product page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)deeprobotics.cn/en/wap/humanoid.html
[130]LimX Oli specificationsProduct page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)limxdynamics.com/en/products/oli/spec
[131]Dobot Atom product page (full-size humanoid)Product page · document date: undated · last checked: 25 September 2026 (manufacturer page read via search index)dobot-robots.com/products/humanoid-robots/atom.html
[132]RobotEra STAR1 model repositoryOfficial model file (URDF/MJCF) · document date: 16 January 2025 · last checked: 25 September 2026 (primary file read)github.com/roboterax/models
[133]Fourier GR-3 model fileOfficial model file (URDF/MJCF) · document date: 13 November 2025 · last checked: 25 September 2026 (primary file read)github.com/FFTAI/Wiki-GRx-Models
[134]K-Scale K-Bot repository ("public alpha")Official GitHub repository · document date: 7 November 2025 · last checked: 25 September 2026 (primary file read)github.com/kscalelabs/kbot
[135]RoboParty ROBOTO_ORIGIN repository (open-source prototype)Official GitHub repository · document date: undated · last checked: 25 September 2026 (primary file read)github.com/Roboparty/roboto_origin
[136]Figure AI: Introducing Figure 03Manufacturer announcement · document date: 9 October 2025 · last checked: 18 September 2026 (product-record verification; not reopened this round)figure.ai/news/introducing-figure-03
[137]Galbot ET1 product pageProduct page · document date: undated · last checked: 18 September 2026 (product-record verification; not reopened this round)galbot.com/et1

Robotlar.org

[138]Robotlar.org: Unitree partner in Turkey, sales, warranty and serviceRobotlar.org page · document date: undated · last checked: 25 September 2026 (primary file read)robotlar.org/tr/unitree
[139]Robotlar.org: project-based supply for brands not held in stockRobotlar.org page · document date: undated · last checked: 25 September 2026 (primary file read)robotlar.org/tr/egitim-robotlari
[140]Robotlar.org corporate quote (no list prices published)Robotlar.org page · document date: undated · last checked: 25 September 2026 (primary file read)robotlar.org/tr/teklif-formu

Frequently asked questions

Which is the closest alternative to the Unitree G1?

In size and hardware the closest body is the AgiBot X2 Ultra: 1310 mm tall, 31 DoF excluding hands, 3D LiDAR, an RGB-D camera, NVIDIA Orin NX and a ROS 2 based SDK. If more payload and speed are needed, the Booster T2 stands out (up to 10 kg with both arms, 3 m/s); its height and weight could not be confirmed in this check. There is no single right answer: the choice depends on purpose and edition.

How does the G1 (Basic) versus G1 EDU difference affect the choice of alternative?

The standard G1 does not support secondary development (official store); the SDK, ROS 2, joint-level control, dexterous hands, teleoperation and data collection belong to the G1 EDU. An alternative considered for research should be compared with the G1 EDU, one considered for demonstrations with the G1 (Basic). Other families split the same way: on the AgiBot X2 development access is on the Ultra and EDU editions, on the Unitree R1 and H2 it is on the EDU.

Which models document joint-level torque control?

Editions whose official SDK or message definition documents per-joint position, velocity, torque and gain commands: the G1 EDU, R1 EDU and H2 EDU (LowCmd), the Booster K1, T1 and T2 (rt/joint_ctrl), the EngineAI PM01 Education edition (JointCommand), the Fourier N1 (current, torque, velocity, position or PD mode) and the AgiBot X1 (/joint_cmd). Low-level motor control is documented for the AgiBot X2 Ultra; its command fields could not be read in detail in this check. The standard G1, R1, H2 and the base X2 have no secondary development.

Why can't the arm payload figures be compared directly?

Makers measure different things. The G1 EDU's arm maximum is about 3 kg and drops as the arm extends; the AgiBot X2 gives 3 kg in specific postures and 1 kg or less across the full reach; the Booster T2 publishes only a dual-arm maximum (10 kg); the Unitree H2 states about 7 kg rated and about 15 kg peak. Single-arm, dual-arm, maximum and rated figures do not stand in for one another, and grip force is a separate limit. That is why payload rows get no automatic leading mark in the table.

Which robot can pick a box off the floor?

None of the compared models documents picking objects off the floor as a ready function. Bodies that combine a waist pitch axis, a deep knee range and 7-DoF arms (the H2 EDU, the Booster T2, the G1 EDU with its optional waist axes) are candidates once a whole-body control policy is developed and tested under load. Being able to bend forward does not count as this capability.

Which model should a team that wants open hardware look at?

The AgiBot X1 published its hardware drawings, STEP and SolidWorks sources, bill of materials and assembly instructions; however, the hardware repository has no licence file and the repositories have not been updated since April 2025. The Fourier N1's URDF and MJCF files are Apache-2.0 licensed, while its SDK runtime is a closed package. For the other models the software and model files are open and no hardware design files were found.

Which models come with stock, warranty and service in Turkey?

For Unitree bodies (G1, G1 EDU, R1, H2), Robotlar.org, as the Unitree partner in Turkey, provides stock, warranty, spare parts, installation and technical service under one responsibility. For Booster, EngineAI, Fourier and AgiBot bodies it offers corporate procurement, technical specification support and integration engineering; supply to Turkey is planned project by project, and import, delivery and commissioning scope are itemised in the quote.

Why are there no prices or budget filter on the page?

Robotlar.org does not publish list prices. Price depends on the edition (development access), compute unit, hand or end effector, spare battery, quantity, delivery and acceptance-test scope. Without a verified budget band a budget filter would eliminate the wrong models, so the selector has none. Two quotes cannot be compared until these items sit on the same lines.

Where do the values come from and how were they checked?

From manufacturer sources only: product page, technical document, manual, official GitHub repository, official PyPI package and official model file. The source list gives each source's document date, last check date and check method. GitHub and PyPI sources were read directly and pinned to the version read; manufacturer pages were read through a search index. Values that could not be confirmed in this check are marked "Could not verify", and values where official sources disagree are marked "Conflicting".

Do manufacturer demo videos count as proof of a capability?

No. A demo video is a single demonstration filmed with a specific edition, software and setting. On this page a capability counts only if it is documented by the maker, the official SDK or an official repository; the candidate statuses in the task matrix follow that rule. Before going into the field, an acceptance test is run with the same edition and software.

Why are the Tesla Optimus and Figure 03 not in the comparison?

Both are full-size bodies outside the G1 class. The maker's introduction gives the Figure 03 as 173 cm and 61 kg; a supply request is assessed project by project. For the Tesla Optimus no official source with an on-sale edition or ordering information was found in this check.

The models that fit you, in 3 steps

3Result: sourced candidates

Technical comparison table

Differences (baseline: G1 EDU)

Booster T2 Professional

AgiBot X2 Ultra

Unitree R1 EDU

How to read the table

The G1 baseline and edition differences

Unitree G1: standard (Basic) and EDU

Unitree G1+: the new generation of the same body (September 2026)

Unitree R1: AIR, standard and EDU

Booster T2: Education and Professional

Booster T1: end-effector configurations

Booster K1: Geek, Education and Professional

EngineAI PM01: Business and Education editions

AgiBot X2: base, Ultra and EDU

Unitree H2: standard, EDU and PLUS (class above)

Technical notes before deciding

How degrees of freedom are counted

TOPS is not joint torque

Peak and rated torque

Arm payload is not what the hand can carry

Bending forward is not picking from the floor

Development access depends on the edition

Example tasks: what they need and which model is a candidate

1. Grasping a 2.5 L bottle and placing it on a scale

2. Reading the scale and making a quality-control decision

3. Screwing on a cap and measuring torque

4. Picking a box off the floor and putting it on a table

5. Museum mapping and location-based narration

6. A 7-8 kg grasp and carry pilot

The class above and different use classes

G1 EDU and the Unitree H2 editions

PUDU D9

Unitree G1-D

Models outside the table

MagicBot Z1

Noetix N2

Noetix E1

Not presented as alternatives

Supply, warranty, service and price in Turkey

Request a quote

Sources

Unitree

Booster

AgiBot

EngineAI

Fourier

MagicLab

Noetix

PUDU

Other manufacturers (assessed, not compared)

Robotlar.org

Frequently asked questions

Which is the closest alternative to the Unitree G1?

How does the G1 (Basic) versus G1 EDU difference affect the choice of alternative?

Which models document joint-level torque control?

Why can't the arm payload figures be compared directly?

Which robot can pick a box off the floor?

Which model should a team that wants open hardware look at?

Which models come with stock, warranty and service in Turkey?

Why are there no prices or budget filter on the page?

Where do the values come from and how were they checked?

Do manufacturer demo videos count as proof of a capability?

Why are the Tesla Optimus and Figure 03 not in the comparison?

Related pages

Result: sourced candidates