Unitree · API & Developer Docs
Unitree G1 API & Developer Docs
The Unitree G1 developer documentation is genuinely good — Unitree's docs hub covers the SDK from installation through advanced motion programming. It's the official reference; third-party tutorials age fast as APIs change.
If you're coming from ROS or Drake-style simulation, budget time for the middleware layer: Unitree's DDS-based interfaces are powerful but opinionated, and the examples in the official docs are the fastest way to learn the idioms.
What this document covers
- ✓SDK installation and environment setup
- ✓Communication middleware: topics, services, and message types
- ✓Locomotion and sport-mode APIs
- ✓Sensor streams: IMU, joint states, and vision
- ✓Voice assistant and high-level behavior interfaces
- ✓Simulation support and example programs
Official API and developer documentation
What we know about the Unitree G1
The Unitree G1 exposes 23 degrees of freedom to developers — check the official docs for the joint naming and limits before writing your first controller.
Unbox on a clear, flat surface with at least 2 meters of clearance — the G1 ships in a flight case with the charger, a spare battery, and developer docs. Charge both batteries fully before first boot; a partial charge is the most common cause of a failed first startup.
Unitree G1 at a glance
- Height
- 1.27 m
- Weight
- ≈ 35 kg
- Degrees of freedom
- 23
- Runtime
- ≈ 2 h per battery