Unitree G1 SDK & Hardware Development Technical Guide

The G1 series is offered in different variants:
- G1 Air: 23 Degrees of Freedom (DOF)
- G1 Standard: 29 DOF
- G1 EDU: 23 - 43 DOF (Customizable structure)

The EDU version is equipped with high-torque motors that provide higher precision in wrist and finger joints.

The optional Dex3-1 hand found in G1-EDU models is designed for complex object manipulation.

Parameter	Description
DOF	7 (Independently controllable)
Communication	Lemo (6-pin) specialized interface
Tendon System	Hybrid mechanical transmission

Ports for the robot to communicate with the outside world are located on the body for developers:
- USB-C: High-speed data transfer and debugging.
- DC Port: External power supply and charging.
- Ethernet (RJ45): 1000Mbps high-speed local network communication.
- Extension Port: Additional sensor integration via GPIO, UART and I2C lines.

Unitree G1-EDU comes standard with a high-performance NVIDIA Jetson Orin NX (16GB) module. Offering 100 TOPS of AI processing capability, this unit can run real-time motion planning and visual perception models locally.

Supported Software: Ubuntu 22.04 LTS, ROS2 Humble, Python SDK, and C++ API.

The robot's environmental awareness is provided by sensors manufactured by Unitree:
- Unitree XB1 (3D LiDAR): 360-degree horizontal field of view.
- Depth Camera: AI-based object recognition and depth mapping.
- IMU: High-precision 6-axis inertial measurement unit.

G1's advanced mobility is supported by joint limits with wide angle values:

ID	Joint Name	Limit (Degree)
0	L_Leg_Yaw	-150 / 83
1	L_Leg_Pitch	-20 / 20
2	L_Leg_Roll	-18 / 38
...	Torso and Arm joints	Up to +/- 150 degrees