About R1 ======== .. image:: media/figures/unitree-r1~6.webp :width: 100% :align: center :class: mbsrounded | Component Overview ------------------ The Unitree R1 humanoid robot is composed of an upper body and a lower body, featuring a modular mechanical structure with multiple degrees of freedom (DOF) to support precise motion and posture control. Depending on the selected model, the R1 offers different joint configurations to balance weight, flexibility, and functionality. Each **leg** is designed with **six degrees of freedom**, incorporating the hip, thigh, knee, and ankle joints to ensure stable locomotion and adaptable movement. The **arms** are available in two configurations, providing either **four or five degrees of freedom**, including the shoulder, upper arm, and elbow joints. The Air variant features a simplified arm design with a reduced elbow configuration. The **waist module** is offered in two versions: a fixed configuration with no degrees of freedom, and an articulated configuration with **two degrees of freedom**, corresponding to the lumbar joint. Similarly, the **head module** is available in either a fixed (0-DOF) configuration or a **2-DOF articulated neck**, enhancing environmental perception and sensor orientation. The Air variant does not include waist or head articulation. Based on these configurations, the R1 series is divided into the **R1 Air**, **R1 Basic**, and **R1 EDU** models. These variants provide a total of **20 or 26 degrees of freedom**, enabling accurate whole-body motion control and flexible posture adjustment across a wide range of applications. Degrees of Freedom by Model --------------------------- +----------------------+------------+------------------------+ | **Category** | **R1 Air** | **R1 Basic / R1 EDU** | +======================+============+========================+ | **Total DOF** | 20 | 26 | +----------------------+------------+------------------------+ | **Single Leg DOF** | 6 | 6 | +----------------------+------------+------------------------+ | **Waist DOF** | 0 | 2 | +----------------------+------------+------------------------+ | **Single Arm DOF** | 4 | 5 | +----------------------+------------+------------------------+ | **Head DOF** | 0 | 2 | +----------------------+------------+------------------------+ Component Description ````````````````````` R1 Air ------ .. image:: media/figures/r1_body_components.png :width: 100% :align: center :alt: Unitree R1 Humanoid Robot | R1 Basic / R1 EDU ----------------- .. image:: media/figures/r1_edu_body_components.png :width: 100% :align: center :alt: Unitree R1 Humanoid Robot | Dexterous Hand (Dex3-1) ======================= Overview -------- The **Dex3-1 dexterous hand** is a compact, force-capable end-effector designed for precise manipulation tasks in humanoid robot applications. Featuring a three-finger configuration and multiple sensing elements, the Dex3-1 enables fine-grained object interaction while maintaining a lightweight and robust design. Electrical Parameters --------------------- +-----------------------------+------------------------------+ | **Parameter** | **Specification** | +=============================+==============================+ | **Operating Voltage** | 12–58 V | +-----------------------------+------------------------------+ | **Sensing Range** | 10 g – 2500 g | +-----------------------------+------------------------------+ | **Total Degrees of Freedom**| 7 | +-----------------------------+------------------------------+ | **Array Sensors** | 9 | +-----------------------------+------------------------------+ Degrees of Freedom Configuration -------------------------------- The Dex3-1 hand provides a total of **seven active degrees of freedom**, distributed as follows: - **Thumb:** 3 active degrees of freedom - **Index Finger:** 2 active degrees of freedom - **Middle Finger:** 2 active degrees of freedom This configuration enables both power grasping and delicate manipulation, supporting a wide range of interaction scenarios. Joint Motion Ranges ------------------- The allowable joint angle ranges for each finger are defined below: - **Thumb:** - 0° to +100° - −35° to +60° - −60° to +60° - **Index and Middle Fingers:** - 0° to +90° - 0° to +100° These ranges provide sufficient flexibility for stable grasping, finger coordination, and controlled contact with objects. Usage Guidelines ---------------- When operating the Dex3-1 dexterous hand, users should ensure that the robot’s motion planning prevents unintended contact between the hand and the robot body. If necessary, increasing the outward offset of selected shoulder joints can help reduce the risk of self-collision. During development and testing, it is recommended to avoid highly dynamic or strenuous behaviors—such as running or balance stress tests—while the dexterous hand is active. This helps protect the mechanical structure and ensures reliable operation during manipulation-focused tasks. Mounting Hole Positions ======================= Front Chest Mounting Holes -------------------------- The Unitree R1 provides mounting points on the front chest area for installing external components or accessories. If access to these mounting holes is required, follow the procedure below carefully. Mounting Preparation Procedure ------------------------------- 1. **Remove fixing screws** Detach the following screws as indicated in the reference diagram: - Two neck fixing screws from the front - Two shoulder fixing screws from the rear - Four waist fixing screws from both sides 2. **Drill front panel holes** From the inside of the front panel, use a **3.3 mm drill bit** to carefully drill through the existing front panel screw holes. 3. **Tap mounting threads** From the inside of the front panel, use an **M4 tap** to create threads along the existing M4 threaded paths. Take care to align the tap correctly and avoid damaging the internal threads. +--------------------------------------------------------------------+-------------------------------------------------------------------+-------------------------------------------------------------------+ | .. figure:: media/figures/r1_front_holes.png | .. figure:: media/figures/r1_back_holes.png | .. figure:: media/figures/r1_side_holes.png | | :width: 100% | :width: 100% | :width: 100% | | :align: center | :align: center | :align: center | | :alt: Installation Hole Position | :alt: Installation Hole Position | :alt: Installation Hole Position | | :class: mbsrounded | :class: mbsrounded | :class: mbsrounded | | | | | | Front | Back | Side | +--------------------------------------------------------------------+-------------------------------------------------------------------+-------------------------------------------------------------------+ Mounting Hole Specifications ---------------------------- - **Thread Type:** M4 threaded hole - **Units:** millimeters (mm) Refer to the **R1 Mounting Hole Dimension Diagram** below for detailed hole positions and spacing before installation. +--------------------------------------------------------------------+-------------------------------------------------------------------+ | .. figure:: media/figures/r1_mounting_holes_front.png | .. figure:: media/figures/r1_mounting_holes_back.png | | :width: 100% | :width: 100% | | :align: center | :align: center | | :alt: Installation Hole Position | :alt: Installation Hole Position | | :class: mbsrounded | :class: mbsrounded | | | | | Front | Back | +--------------------------------------------------------------------+-------------------------------------------------------------------+ .. important:: Ensure all drilling and tapping operations are performed with the robot powered off and the battery removed. Improper handling may damage internal structures or compromise mechanical integrity. Electrical Interfaces ===================== .. Overview .. -------- The upper section of the Unitree R1 is equipped with multiple electrical interfaces used to connect joint motors, sensor peripherals, networking equipment, and external control devices. This interface layout is designed to support convenient system debugging, fault diagnosis, and secondary development activities. .. image:: media/figures/r1_electrical_interface.png :width: 50% :align: center :alt: Unitree R1 Humanoid Robot | Interface List -------------- +-----+--------------------+-------------------------+-------------------------------------------------------------+ | No. | **Interface Type** | **Abbreviation** | **Description** | +=====+====================+=========================+=============================================================+ | 1 | Reserved Button | Reserved Button | Not connected (NC) | +-----+--------------------+-------------------------+-------------------------------------------------------------+ | 2 | Type-C | Type-C | Supports USB 3.0 devices; used on EDU version to connect | | | | | to the rear computing module | +-----+--------------------+-------------------------+-------------------------------------------------------------+ | 3 | XT30UPB-F | 24V | 24 V / 3 A power output | +-----+--------------------+-------------------------+-------------------------------------------------------------+ | 4 | XT30UPB-F | 36V | 36 V / 5 A power output | +-----+--------------------+-------------------------+-------------------------------------------------------------+ | 5 | GH1.25 | Emergency Stop Interface| External emergency stop interface | +-----+--------------------+-------------------------+-------------------------------------------------------------+ | 6 | GH1.25 | Reserved Socket | Not connected (NC) | +-----+--------------------+-------------------------+-------------------------------------------------------------+ | 7 | RJ45 | 1000 BASE-T | Gigabit Ethernet interface | +-----+--------------------+-------------------------+-------------------------------------------------------------+ | 8 | Button | STOP | Integrated emergency stop button | +-----+--------------------+-------------------------+-------------------------------------------------------------+ External Emergency Stop Interface --------------------------------- The external emergency stop interface uses a **GH1.25** connector. Pin assignments are defined from **left to right** as shown below. .. image:: media/figures/r1_emergency_stop.png :width: 50% :align: center :alt: Unitree R1 Humanoid Robot | +--------------------+-------------+ | **Pin Number** | **Signal** | +====================+=============+ | 1 | STOP | +--------------------+-------------+ | 2 | NC | +--------------------+-------------+ | 3 | GND | +--------------------+-------------+ .. important:: When connecting external power or emergency stop devices, ensure correct voltage levels and pin alignment. Improper connections may result in system malfunction or hardware damage. Onboard Computer ================ Overview -------- The **R1-EDU Professional Edition** is equipped with a dedicated **Development Computing Unit**, designed specifically to support secondary development, algorithm deployment, and advanced perception or control workloads. This onboard computer provides sufficient computing performance for real-time processing, AI inference, and system integration tasks. Development Computing Unit Specifications ------------------------------------------ +--------------------------------------+--------------------------------------------------------------+ | **Parameter** | **Specification** | +======================================+==============================================================+ | **Model** | NVIDIA Jetson Orin NX | +--------------------------------------+--------------------------------------------------------------+ | **CPU Architecture** | Arm® Cortex®-A78AE | +--------------------------------------+--------------------------------------------------------------+ | **CPU Core Count** | 8 | +--------------------------------------+--------------------------------------------------------------+ | **Thread Count** | 8 | +--------------------------------------+--------------------------------------------------------------+ | **Max Turbo Frequency** | Up to 2.0 GHz | +--------------------------------------+--------------------------------------------------------------+ | **GPU** | 1024-core NVIDIA Ampere GPU with 32 Tensor Cores | +--------------------------------------+--------------------------------------------------------------+ | **Max GPU Frequency (Dynamic)** | 918 MHz | +--------------------------------------+--------------------------------------------------------------+ | **Video Memory** | 16 GB | +--------------------------------------+--------------------------------------------------------------+ | **System RAM** | 16 GB | +--------------------------------------+--------------------------------------------------------------+ | **Cache** | 2 MB L2 + 4 MB L3 | +--------------------------------------+--------------------------------------------------------------+ | **Storage** | 2 TB | +--------------------------------------+--------------------------------------------------------------+ | **Instruction Set** | 64-bit | +--------------------------------------+--------------------------------------------------------------+ | **OpenGL Support** | Version 4.6 | +--------------------------------------+--------------------------------------------------------------+ | **OpenCL Support** | Version 3.0 | +--------------------------------------+--------------------------------------------------------------+ | **DirectX Support** | Version 12.1 | +--------------------------------------+--------------------------------------------------------------+ Network Configuration --------------------- - **Default IP Address:** ``192.168.123.164`` This address is preconfigured for communication and development access within the robot’s internal network. Usage Notes ----------- - The Development Computing Unit is intended **exclusively for secondary development purposes**. - Default login credentials are provided for initial access: - **Username:** ``unitree`` - **Password:** ``123`` - The computing module shipped with the robot **may be replaced with a newer or higher-performance version**, provided that its performance is not lower than the specifications listed above. .. important:: For security reasons, users are strongly advised to change the default login credentials after first access. Ensure proper shutdown procedures are followed before performing any hardware or software modifications. Camera Field of View (FOV) ========================== .. Overview .. -------- The Unitree R1 is equipped with wide-angle vision systems designed to provide strong visual perception and spatial awareness. Depending on the model variant, the robot uses either a monocular or binocular camera configuration to support perception, navigation, and interaction tasks across diverse environments. Camera Configurations by Model ------------------------------- - **R1 AIR** The R1 AIR head integrates a **monocular camera** with a horizontal field of view of up to **146°** and a maximum vertical field of view of **110°**. This configuration provides broad visual coverage while maintaining a lightweight design. - **R1 Basic / R1-EDU** The R1 Basic and R1-EDU models are equipped with a **binocular depth camera module**, offering a horizontal field of view of up to **150°** and a maximum vertical field of view of **124°**. This setup enables depth perception and enhanced spatial understanding. Vertical Field of View Example ------------------------------ When using the binocular camera module, the effective vertical field of view is influenced by the head’s pitch motion range. For example, a vertical FOV of approximately **109.58°** corresponds to the available head pitch movement range, allowing the robot to actively scan its surroundings. .. .. image:: media/figures/vertical_fov.png .. :width: 100% .. :alt: Unitree R1 Humanoid Robot .. | .. .. image:: media/figures/horizontal_fov.png .. :width: 100% .. :alt: Unitree R1 Humanoid Robot .. | +--------------------------------------------------------------------+-------------------------------------------------------------------+ | .. figure:: media/figures/horizontal_fov.png | .. figure:: media/figures/vertical_fov.png | | :width: 80% | :width: 80% | | :align: center | :align: center | | :alt: Installation Hole Position | :alt: Installation Hole Position | | :class: mbsrounded | :class: mbsrounded | | | | | Horizontal FOV | Vertical FOV | +--------------------------------------------------------------------+-------------------------------------------------------------------+ .. image:: media/figures/complete_fov.png :width: 100% :align: center :alt: Unitree R1 Humanoid Robot | Perception Capabilities ----------------------- The R1’s wide field of view significantly enhances visual perception, enabling accurate environmental understanding, reliable obstacle detection, and high-precision spatial awareness. These capabilities allow the robot to respond intelligently and adapt flexibly to a wide range of real-world scenarios, including navigation, interaction, and perception-driven tasks. Single Camera Technical Parameters ---------------------------------- +-------------------------------+-------------------------------------------------------------+ | **Category** | **Specification** | +===============================+=============================================================+ | **RGB Full Resolution** | 1280 × 1088 | +-------------------------------+-------------------------------------------------------------+ | **Depth Resolution** | 544 × 448 | +-------------------------------+-------------------------------------------------------------+ | **Depth Frame Rate** | 10 Hz | +-------------------------------+-------------------------------------------------------------+ | **RGB Frame Rate** | 30 Hz | +-------------------------------+-------------------------------------------------------------+ | **Sensor Resolution** | 13 Megapixels | +-------------------------------+-------------------------------------------------------------+ | **Shutter Type** | Global shutter | +-------------------------------+-------------------------------------------------------------+ | **Dynamic Range** | 66 dB (Normal mode) / >100 dB (HDR mode) | +-------------------------------+-------------------------------------------------------------+ | **Infrared Enhancement** | 850 nm / 940 nm near-infrared support | +-------------------------------+-------------------------------------------------------------+ | **Gain Control** | 15.5× analog gain, 16× digital gain | +-------------------------------+-------------------------------------------------------------+ | **Exposure Control** | Auto exposure and gain control; supports exposure < 1 line | +-------------------------------+-------------------------------------------------------------+ | **Advanced Features** | HDR output, high photosensitivity, high SNR, LED strobe, | | | external exposure control, multi-sensor synchronization, | | | horizontal/vertical window adjustment, interface register | | | programming | +-------------------------------+-------------------------------------------------------------+ .. note:: Actual field of view and perception performance may vary depending on configuration, lighting conditions, and operational posture of the robot. Joint Motors ============ .. Overview .. -------- The Unitree R1 is equipped with **self-developed joint motors** engineered for high performance, compact integration, and precise motion control. Each motor features a **hollow-shaft design**, reducing overall weight while enabling efficient internal routing of cables and mechanical components. To support accurate control and state estimation, the joint motors are fitted with **dual encoders**, providing high-resolution feedback for both position and velocity. This design meets the requirements of high-precision control, dynamic motion execution, and stable whole-body coordination. .. list-table:: :widths: 33 33 34 :header-rows: 0 * - .. image:: media/gifs/r1_frontflip_1.webp :width: 100% :alt: R1 Frontflip Sequence 1 - .. image:: media/gifs/r1_frontflip_2.webp :width: 100% :alt: R1 Frontflip Sequence 2 - .. image:: media/gifs/r1_frontflip_3.webp :width: 100% :alt: R1 Frontflip Sequence 3 Joint Indexing and Motion Limits -------------------------------- The table below lists the **joint sequence numbers**, **joint names**, and corresponding **motion limits** (in radians). Entries marked as *EMPTY* indicate reserved or unused joint indices. +---------------+------------------------+---------------------------+ | **Joint No.** | **Joint Name** | **Limit (rad)** | +===============+========================+===========================+ | 0 | L_LEG_HIP_PITCH | −2.9322 ~ 2.5482 | +---------------+------------------------+---------------------------+ | 1 | L_LEG_HIP_ROLL | −1.0472 ~ 1.7453 | +---------------+------------------------+---------------------------+ | 2 | L_LEG_HIP_YAW | −2.7402 ~ 2.7402 | +---------------+------------------------+---------------------------+ | 3 | L_LEG_KNEE | −0.1745 ~ 2.4260 | +---------------+------------------------+---------------------------+ | 4 | L_LEG_ANKLE_PITCH | −0.8727 ~ 0.5760 | +---------------+------------------------+---------------------------+ | 5 | L_LEG_ANKLE_ROLL | −0.2618 ~ 0.2618 | +---------------+------------------------+---------------------------+ | 6 | R_LEG_HIP_PITCH | −2.9322 ~ 2.5482 | +---------------+------------------------+---------------------------+ | 7 | R_LEG_HIP_ROLL | −1.0472 ~ 1.7453 | +---------------+------------------------+---------------------------+ | 8 | R_LEG_HIP_YAW | −2.7402 ~ 2.7402 | +---------------+------------------------+---------------------------+ | 9 | R_LEG_KNEE | −0.1745 ~ 2.4260 | +---------------+------------------------+---------------------------+ | 10 | R_LEG_ANKLE_PITCH | −0.8727 ~ 0.5760 | +---------------+------------------------+---------------------------+ | 11 | R_LEG_ANKLE_ROLL | −0.2618 ~ 0.2618 | +---------------+------------------------+---------------------------+ | 12 | WAIST_YAW | −2.6180 ~ 2.6180 | +---------------+------------------------+---------------------------+ | 13 | WAIST_ROLL | −0.5236 ~ 0.5236 | +---------------+------------------------+---------------------------+ | 14 | EMPTY | EMPTY | +---------------+------------------------+---------------------------+ | 15 | L_SHOULDER_PITCH | −3.1416 ~ 2.0944 | +---------------+------------------------+---------------------------+ | 16 | L_SHOULDER_ROLL | −2.4784 ~ 0.2269 | +---------------+------------------------+---------------------------+ | 17 | L_SHOULDER_YAW | −1.9199 ~ 1.9199 | +---------------+------------------------+---------------------------+ | 18 | L_ELBOW | −0.9757 ~ 2.1850 | +---------------+------------------------+---------------------------+ | 19 | L_WRIST_ROLL | −1.9199 ~ 1.9199 | +---------------+------------------------+---------------------------+ | 20 | EMPTY | EMPTY | +---------------+------------------------+---------------------------+ | 21 | EMPTY | EMPTY | +---------------+------------------------+---------------------------+ | 22 | R_SHOULDER_PITCH | −3.1416 ~ 2.0944 | +---------------+------------------------+---------------------------+ | 23 | R_SHOULDER_ROLL | −2.4784 ~ 0.2269 | +---------------+------------------------+---------------------------+ | 24 | R_SHOULDER_YAW | −1.9199 ~ 1.9199 | +---------------+------------------------+---------------------------+ | 25 | R_ELBOW | −0.9757 ~ 2.1850 | +---------------+------------------------+---------------------------+ | 26 | R_WRIST_ROLL | −1.9199 ~ 1.9199 | +---------------+------------------------+---------------------------+ | 27 | EMPTY | EMPTY | +---------------+------------------------+---------------------------+ | 28 | EMPTY | EMPTY | +---------------+------------------------+---------------------------+ | 29 | HEAD_PITCH | −0.6283 ~ 0.6283 | +---------------+------------------------+---------------------------+ | 30 | HEAD_YAW | −1.8326 ~ 1.8326 | +---------------+------------------------+---------------------------+ .. note:: Joint limits are defined in radians and may vary depending on hardware configuration, firmware version, and operational conditions. Always ensure commanded joint motions remain within the specified limits. .. Overview .. ======== .. .. image:: media/figures/g1_says_hi.webp .. :alt: G1 Robot .. :width: 50% .. :class: mbsrounded .. The G1 robot is divided into upper and lower bodies, each featuring multiple degrees of freedom. The single arm has five degrees of freedom, including .. the shoulder, upper arm, and elbow joints. The single leg features six degrees of freedom, comprising the hip, leg, knee, and ankle joints. The waist includes .. one degree of freedom, namely the lumbar joint. .. The G1 basic version offers 23 degrees of freedom in total, allowing for precise motion and posture control through joint motors. .. .. image:: media/figures/g1_component_overview.png .. :alt: H1 Robot .. :width: 100% .. :class: mbsrounded .. Edu Variant .. =========== .. The G1-EDU version builds upon the G1 basic model, expanding its capabilities for educational and research applications. It offers the same foundational .. configuration but includes options for additional degrees of freedom. .. Optional upgrades include a dexterous hand with seven degrees of freedom and two additional wrist degrees of freedom, enhancing its manipulation abilities. .. The waist can also be upgraded with two extra degrees of freedom for advanced flexibility. Depending on the configuration, the G1-EDU can have up to 43 .. degrees of freedom, making it highly versatile for complex tasks. .. .. image:: media/figures/g1_edu_component_overview.png .. :alt: H1 Robot .. :width: 100% .. :class: mbsrounded .. Three-Fingered Dex Hand .. ======================= .. .. image:: media/figures/g1_3finger_hand.png .. :alt: G1 Robot .. :width: 40% .. :class: mbsrounded .. +-----------------------------+---------------------------------------------+ .. | **Parameter** | **Specification** | .. +-----------------------------+---------------------------------------------+ .. | **Rendering Image** | 4 | .. +-----------------------------+---------------------------------------------+ .. | **Operating Voltage** | 12-58 V | .. +-----------------------------+---------------------------------------------+ .. | **Range of Perception** | 10 g - 2500 g | .. +-----------------------------+---------------------------------------------+ .. | **Degrees of Freedom** | Total: 7 | .. | | - Thumb: 3 active degrees of freedom | .. | | - Index Finger: 2 active degrees of freedom | .. | | - Middle Finger: 2 active degrees of freedom| .. +-----------------------------+---------------------------------------------+ .. | **Angle of Joint** | Thumb: 0°~+100°, -35°~+60°, -60°~+60° | .. | | Index Finger and Middle Finger: | .. | | 0°~+90°, 0°~+100° | .. +-----------------------------+---------------------------------------------+ .. | **Number of Array Sensors** | 9 | .. +-----------------------------+---------------------------------------------+ .. Five-Fingered Dex Hand .. ====================== .. The RH56 series Inspire robotic hands, comprising the RH56BFX and RH56DFX models, are designed for seamless integration with humanoid robots like the G1. With .. support for the RS485 communication interface, these hands are fully compatible with popular robotics platforms, including ROS (Robot Operating System). .. Their precise control, 6 degrees of freedom, and 12-joint design allow for high-performance dexterity suited for tasks requiring precision and adaptability. .. The RH56 series ensures reliable operation with features like consistent repeatability (±0.20mm), adjustable grip force, and flexible motion ranges, making .. them an ideal choice for humanoid robotics and other advanced robotic systems. .. .. image:: media/figures/inspire_robots_dextorous_hand_wbg.png .. :alt: G1 Robot .. :width: 50% .. :class: mbsrounded .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Parameter** | **RH56BFX Specification** | **RH56DFX Specification** | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Control Interface** | RS485 | RS485 | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Degrees of Freedom** | 6 | 6 | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Number of Joints** | 12 | 12 | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Weight** | 540g | 540g | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Operating Voltage** | DC24V±10% | DC24V±10% | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Quiescent Current** | 0.20A | 0.20A | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Peak Current** | 2A | 2A | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Repeatability** | ±0.20mm | ±0.20mm | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Maximum Thumb Grip** | 6N | 15N | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Maximum Palm Finger Grip**| 4N | 10N | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Force Resolution** | 0.50N | 0.50N | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Thumb Lateral | > 65° | > 65° | .. | **Rotation Range** | | | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Thumb Lateral | 235°/s | 107°/s | .. | **Rotation Speed** | | | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Thumb Bend Speed** | 150°/s | 70°/s | .. +-----------------------------+-----------------------------+-----------------------------+ .. | **Palm Finger Bend Speed** | 570°/s | 260°/s | .. +-----------------------------+-----------------------------+-----------------------------+ .. Radar and Camera FOV .. ==================== .. The G1 robot is equipped with advanced sensory systems, including the LIVOX-MID360 laser radar and the D435i depth camera, which work in unison to provide .. superior environmental perception and spatial awareness. .. LIVOX-MID360 Laser Radar .. ------------------------ .. The LIVOX-MID360 laser radar is integrated into the G1 head, offering exceptional environmental sensing capabilities. This lidar employs omnidirectional .. and full-angle scanning technology, achieving a horizontal field of view (FOV) of up to 360° and a maximum vertical angle of 59°. These features enable .. the G1 to acquire precise, real-time environmental data and generate high-resolution point cloud information. The system rapidly detects and measures .. objects in its surroundings, ensuring accurate and comprehensive spatial awareness. .. .. figure:: media/figures/mid360_lidar_fov.png .. :alt: MID360 Laser Radar FOV .. :width: 50% .. :align: center .. :class: mbsrounded .. MID360 Laser Radar FOV .. D435i Depth Camera .. ------------------ .. The G1 is also equipped with the D435i depth camera, enhancing its visual perception capabilities. This camera allows the robot to perceive and interpret .. its environment with greater accuracy, enabling precise spatial awareness and obstacle detection. These features facilitate intelligent and flexible interactions .. with the environment, allowing the G1 to adapt effectively to various scenarios. .. .. figure:: media/figures/d435i_depth_camera_fov.png .. :alt: D435i Depth Camera FOV .. :width: 40% .. :align: center .. :class: mbsrounded .. D435i Depth Camera FOV .. Combined FOV of MID360 and D435i .. -------------------------------- .. The integration of the LIVOX-MID360 laser radar and the D435i depth camera provides a merged field of view, enabling the G1 robot to achieve unparalleled .. environmental perception and adaptability. Together, these sensors ensure the G1 can operate effectively across diverse tasks and dynamic environments. .. .. figure:: media/figures/mid360_d435i_merged_fov.png .. :alt: MID360 + D435i Merged FOV .. :width: 90% .. :align: center .. :class: mbsrounded .. MID360+D435i Merged FOV .. Installation Holes .. ================== .. **Unit: mm** .. To utilize the G1 mounting holes, ensure the label covering the holes is removed before installation. .. +--------------------------------------------------------------------+-------------------------------------------------------------------+ .. | .. figure:: media/figures/g1_installation_hole_position_front.png | .. figure:: media/figures/g1_installation_hole_position_back.png | .. | :width: 100% | :width: 100% | .. | :align: center | :align: center | .. | :alt: Installation Hole Position | :alt: Installation Hole Position | .. | :class: mbsrounded | :class: mbsrounded | .. | | | .. | G1 Mounting Holes Front | G1 Mounting Holes Back | .. +--------------------------------------------------------------------+-------------------------------------------------------------------+ .. Electrical Interface .. ==================== .. The back of the **G1 robot's neck** is equipped with a range of electrical interfaces designed for connecting body joint motors, sensor peripherals, network .. ports, and more. This design simplifies debugging, troubleshooting, and secondary development, making the system highly versatile and user-friendly. .. .. figure:: media/figures/g1_interface.jpg .. :alt: Top View of G1 Electrical Interface .. :width: 90% .. :align: center .. :class: mbsrounded .. Top View of G1 Electrical Interface .. Below is a description of the connectors and their respective interface specifications: .. +----+----------------+-------------------------------+---------------------------------------------+ .. | No | Connector Name | Interface Description (Short) | Interface Specification | .. +====+================+===============================+=============================================+ .. | 1 | XT30UPB-F | VBAT | Battery power output (direct connection to | .. | | | | battery) | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 2 | XT30UPB-F | 24V | 24V/5A power output | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 3 | XT30UPB-F | 12V | 12V/5A power output | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 4 | RJ45 | 1000 BASE-T | Gigabit Ethernet (GbE) | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 5 | RJ45 | 1000 BASE-T | Gigabit Ethernet (GbE) | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 6 | Type-C | Type-C | Supports USB3.0 host, 5V/1.5A power output | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 7 | Type-C | Type-C | Supports USB3.0 host, 5V/1.5A power output | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 8 | Type-C | Type-C | Supports USB3.0 host, 5V/1.5A power output | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 9 | Type-C | Alt Mode Type-C | Supports USB3.2 host and DP1.4 | .. +----+----------------+-------------------------------+---------------------------------------------+ .. | 10 | 5577 | I/O OUT | 12V/3A power output | .. +----+----------------+-------------------------------+---------------------------------------------+ .. GPIO Details .. ------------ .. .. figure:: media/figures/g1_gpio_interface.jpg .. :alt: G1 RJ45 and the IO Interface .. :width: 90% .. :align: center .. :class: mbsrounded .. G1 RJ45 and the IO Interface .. Refer to the following table for GPIO configurations: .. +------------+----------------+--------------------------+-----------------------------------------+ .. | GPIO Number| NX Pin Number | Multiplexing Relationship| Debugfs File System Pin Name | .. +============+================+==========================+=========================================+ .. | GPIO1 | 203 | UART1_TXD | GPIO3_PR.02 | .. +------------+----------------+--------------------------+-----------------------------------------+ .. | GPIO2 | 205 | UART1_RXD | GPIO3_PR.03 | .. +------------+----------------+--------------------------+-----------------------------------------+ .. | GPIO3 | 232 | I2C2_SCL | GPIO3_PI.03 | .. +------------+----------------+--------------------------+-----------------------------------------+ .. | GPIO4 | 234 | I2C2_SDA | GPIO3_PI.04 | .. +------------+----------------+--------------------------+-----------------------------------------+ .. | GPIO5 | 128 | GPIO | GPIO3_PCC.02 | .. +------------+----------------+--------------------------+-----------------------------------------+ .. | GPIO6 | 130 | GPIO | GPIO3_PCC.03 | .. +------------+----------------+--------------------------+-----------------------------------------+ .. .. note:: .. NVIDIA GPIO operations can be performed in various ways. For more information on NVIDIA GPIO definitions and usage, refer to the following documentation: .. `NVIDIA Jetson Developer Guide `_. .. On-Board Computer .. ================= .. The G1-EDU onboard system is equipped with one standard operation and control computing unit, along with one development computing unit. .. Development Computing Unit (PC 2) .. --------------------------------- .. +----------------------------------------+-----------------------------------------------------------+ .. | **Parameter** | **Specification** | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Model** | Jetson Orin NX | .. +----------------------------------------+-----------------------------------------------------------+ .. | **CPU** | Arm® Cortex®-A78AE | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Number of Cores** | 8 | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Number of Threads** | 8 | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Maximum Clock Speed** | 2 GHz | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Graphics Memory** | 16 GB | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Total Memory** | 16 GB | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Cache** | 2 MB L2 + 4 MB L3 | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Storage** | 2 TB | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Intel® Image Processing Unit** | Not Present | .. +----------------------------------------+-----------------------------------------------------------+ .. | **GPU** | 1024 NVIDIA Ampere Architecture GPUs with 32 Tensor Cores | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Maximum GPU Frequency** | 918 MHz | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Gaussian and Neural Accelerator** | 3.0 | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Intel® Deep Learning Boost** | Yes | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Intel® Adaptix™ Technology** | Yes | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Intel® Hyper-Threading Technology** | Yes | .. +----------------------------------------+-----------------------------------------------------------+ .. | **Instruction Set** | 64-bit | .. +----------------------------------------+-----------------------------------------------------------+ .. | **OpenGL** | 4.6 | .. +----------------------------------------+-----------------------------------------------------------+ .. | **OpenCL** | 3.0 | .. +----------------------------------------+-----------------------------------------------------------+ .. | **DirectX** | 12.1 | .. +----------------------------------------+-----------------------------------------------------------+ .. | **IP Address** | 192.168.123.164 | .. +----------------------------------------+-----------------------------------------------------------+ .. .. attention:: .. The **Operation and Control Computing Unit** is exclusively dedicated to the Unitree motion control program and is not accessible for public use. .. Developers are only permitted to utilize the **Development Computing Unit** for secondary development purposes. For access to the initial user password, .. please see FAQ. .. In the table, the **PC2 [Development Computing Unit]** is assigned the IP address **192.168.123.164**. .. Please note that the CPU modules may be shipped with a more advanced version, but the performance will meet or exceed the specifications listed above. .. Joint Motor .. =========== .. The **G1 joint motor** utilizes a self-developed Unitree motor that demonstrates exceptional performance and characteristics. With a maximum torque of .. 120 N·m, the motor features a hollow axis design, contributing to a more compact and lightweight structure. Additionally, the motor is equipped with dual .. encoders, enabling precise position and velocity feedback, which is essential for high-precision control requirements. .. Joint Serial Number and Limits .. ------------------------------ .. The following table provides the joint indices, names, and respective joint limits in radians: .. +---------+-------------------------------+-------------------------------+ .. | Index | Joint Name | Limit (rad) | .. +---------+-------------------------------+-------------------------------+ .. | 0 | L_LEG_HIP_PITCH | -2.5307 ~ 2.8798 | .. +---------+-------------------------------+-------------------------------+ .. | 1 | L_LEG_HIP_ROLL | -0.5236 ~ 2.9671 | .. +---------+-------------------------------+-------------------------------+ .. | 2 | L_LEG_HIP_YAW | -2.7576 ~ 2.7576 | .. +---------+-------------------------------+-------------------------------+ .. | 3 | L_LEG_KNEE | -0.087267 ~ 2.8798 | .. +---------+-------------------------------+-------------------------------+ .. | 4 | L_LEG_ANKLE_PITCH | -0.87267 ~ 0.5236 | .. +---------+-------------------------------+-------------------------------+ .. | 5 | L_LEG_ANKLE_ROLL | -0.2618 ~ 0.2618 | .. +---------+-------------------------------+-------------------------------+ .. | 6 | R_LEG_HIP_PITCH | -2.5307 ~ 2.8798 | .. +---------+-------------------------------+-------------------------------+ .. | 7 | R_LEG_HIP_ROLL | -2.9671 ~ 0.5236 | .. +---------+-------------------------------+-------------------------------+ .. | 8 | R_LEG_HIP_YAW | -2.7576 ~ 2.7576 | .. +---------+-------------------------------+-------------------------------+ .. | 9 | R_LEG_KNEE | -0.087267 ~ 2.8798 | .. +---------+-------------------------------+-------------------------------+ .. | 10 | R_LEG_ANKLE_PITCH | -0.87267 ~ 0.5236 | .. +---------+-------------------------------+-------------------------------+ .. | 11 | R_LEG_ANKLE_ROLL | -0.2618 ~ 0.2618 | .. +---------+-------------------------------+-------------------------------+ .. | 12 | WAIST_YAW | -2.618 ~ 2.618 | .. +---------+-------------------------------+-------------------------------+ .. | 13 | WAIST_ROLL | -0.52 ~ 0.52 | .. +---------+-------------------------------+-------------------------------+ .. | 14 | WAIST_PITCH | -0.52 ~ 0.52 | .. +---------+-------------------------------+-------------------------------+ .. | 15 | L_SHOULDER_PITCH | -3.0892 ~ 2.6704 | .. +---------+-------------------------------+-------------------------------+ .. | 16 | L_SHOULDER_ROLL | -1.5882 ~ 2.2515 | .. +---------+-------------------------------+-------------------------------+ .. | 17 | L_SHOULDER_YAW | -2.618 ~ 2.618 | .. +---------+-------------------------------+-------------------------------+ .. | 18 | L_ELBOW | -1.0472 ~ 2.0944 | .. +---------+-------------------------------+-------------------------------+ .. | 19 | L_WRIST_ROLL | -1.9722 ~ 1.9722 | .. +---------+-------------------------------+-------------------------------+ .. | 20 | L_WRIST_PITCH | -1.6144 ~ 1.6144 | .. +---------+-------------------------------+-------------------------------+ .. | 21 | L_WRIST_YAW | -1.6144 ~ 1.6144 | .. +---------+-------------------------------+-------------------------------+ .. | 22 | R_SHOULDER_PITCH | -3.0892 ~ 2.6704 | .. +---------+-------------------------------+-------------------------------+ .. | 23 | R_SHOULDER_ROLL | -2.2515 ~ 1.5882 | .. +---------+-------------------------------+-------------------------------+ .. | 24 | R_SHOULDER_YAW | -2.618 ~ 2.618 | .. +---------+-------------------------------+-------------------------------+ .. | 25 | R_ELBOW | -1.0472 ~ 2.0944 | .. +---------+-------------------------------+-------------------------------+ .. | 26 | R_WRIST_ROLL | -1.9722 ~ 1.9722 | .. +---------+-------------------------------+-------------------------------+ .. | 27 | R_WRIST_PITCH | -1.6144 ~ 1.6144 | .. +---------+-------------------------------+-------------------------------+ .. | 28 | R_WRIST_YAW | -1.6144 ~ 1.6144 | .. +---------+-------------------------------+-------------------------------+ .. Reference Frame, Joint Axes, and Zero Position .. ---------------------------------------------- .. When all joints are in their zero positions, the coordinate systems for the joints are as follows: .. - The **X-axis** is represented in **red**. .. - The **Y-axis** is represented in **green**. .. - The **Z-axis** is represented in **blue**. .. +----------------------------------------------+-----------------------------------------+ .. | .. figure:: media/figures/g1_23dof.png | .. figure:: media/figures/g1_29dof.png | .. | :width: 100% | :width: 100% | .. | :align: center | :align: center | .. | :alt: G1 23 DOF | :alt: G1 29 DOF | .. | :class: mbsrounded | :class: mbsrounded | .. | | | .. | G1 23 DOF | G1 29 DOF | .. +----------------------------------------------+-----------------------------------------+