Efficient simulation
Efficient physics simulation with tools such as Isaac Gym and Mujoco.
UNITREE · Humanoid robots
Unitree G1-Comp
A soccer robot developed for competitions
Unitree G1-Comp offers a platform for development featuring balanced walking, competition-focused motion control, YOLO11-based visual perception, unitree_rl_gym simulation, and RoboCup SDK.
Lightweight and agile, movement that dominates the game
Its balanced gait and impressive speed make it easy to score in one-on-one situations.
Stable and durable, unaffected by distractions
Designed to operate in competitive match environments with industry-leading motion control systems.
Agility and superior power
The YOLO11 network quickly recognizes the stadium environment and enables accurate positioning.
unitree_rl_gym
Physics simulation with Isaac Gym and Mujoco, configurable training, and sim-to-real transfer.
Flexible training configuration
The number of environments, random seeds, and maximum number of iterations can be configured in the configuration file.
From simulation to the real robot
The complete process, from Sim2Sim simulation training to Sim2Real real-robot deployment.
RoboCup SDK
Competition development interfaces for visual perception, spatial positioning, and motion control.
Visual perception API
Rich stadium information interface with built-in YOLO11 real-time object detection.
Positioning API
Accurate stadium positioning interface using monocular geometric and binocular depth positioning.
Motion control API
Various motion control interfaces based on visual results, field information, and competition rules.
Unitree G1-Comp
A competition-focused perception, motion, and development platform.
G1-Comp platform
Combines control, simulation, multimodal interaction, and the development computer in a single workflow.
API
High- and low-level operation control; status service, DDS communication, and audio/light service.
Simulation environment
Isaac gym and Mujoco.
Multimodal interaction
UnifoLM large model, TTS/ASR audio functions, and YOLO detection support.
ROS support
Compatible with the ROS ecosystem.
App support
Quickly configures robots and displays their status.
Development computer
AI computing power with an Orin NX development computer.
Hardware details
Dual encoders, a durable body, body dimensions, and a hot-swappable battery.
Dual encoders
Accurate and stable; unaffected by interference.
Durable body
The shell is clad in aluminum alloy and high-strength engineering plastics.
Height and weight
Weight approximately 35kg; height approximately 130cm.
Operating time
Approximately 2 hours; supports quick replacement and fast charging.
Mechanical specifications
Mechanical dimensions and joint ranges of motion.
| Model | G1 Comp |
|---|---|
| Dimensions (standing) | 1320x450x200mm |
| Dimensions (folded) | 690x450x300mm |
| Weight (including battery) | Approximately 35kg+ |
| Total degrees of freedom | 25-45 |
| Single-leg degrees of freedom | 6 |
| Waist degrees of freedom | 1 + 2 (optional additional waist degrees of freedom) |
| Single-arm degrees of freedom | 5 |
| Head degrees of freedom | 2 |
| Single-hand degrees of freedom | 7 (optional force-controlled three-fingered hand) + 2 (optional 2 additional wrist degrees of freedom)The Dex3-1 three-fingered hand has 3 active degrees of freedom in the thumb, 2 in the index finger, and 2 in the middle finger. Tactile sensor arrays are optional. |
| Maximum knee joint torque | 120N·mJoint motor torques vary; the stated value is the maximum torque of the largest joint motor. |
| Maximum arm payload | Approximately 3KgArm payload varies significantly depending on the arm's extended posture. |
| Shin and thigh length | 0.6M |
| Arm reach | Approximately 0.45M |
| Joint motion ranges | Waist: Z±155°, X±45°, Y±30; knee: 0~165°; hip: P±154°, R-30~+170°, Y±158°; wrist: P±92.5°, Y±92.5° |
Electrical specifications
Electrical specifications, sensing, and connectivity components.
| Electrical cable routing through the joint | Yes |
|---|---|
| Joint encoder | Dual encoders |
| Cooling system | Local air cooling |
| Power source | 13-series lithium battery |
| Core processing power | 8-core high-performance CPU |
| Perception sensors | Depth camera and 3D LiDAR |
| 4-microphone array | Yes |
| 5W speaker | Yes |
| Wi-Fi 6 and Bluetooth 5.2 | Yes |
Accessories
Accessories listed in the source.
| High-performance computing module | Different brand and model options, such as Orin NX |
|---|---|
| Smart battery (quick-release) | 9000mAh |
| Charger | 54V 5A |
| Handheld controller | Yes |
Other features
Battery life, OTA, and support for secondary development.
| Battery operating time | Approximately 2h |
|---|---|
| Smart OTA update | Yes |
| Secondary development | YesDetails are available in the manufacturer's secondary development guide. |
Safe Use and Development Scope
Parameters may vary by scenario and configuration; the product appearance may be updated. Some example functions are in development and testing and will be made available to users in the future. Maintain an adequate safety distance around the robot. This product is designed for civilian use; do not make hazardous modifications or use it in a hazardous manner. Comply with local regulations.
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