Unitree G1
A 1.32 m humanoid with 29 powered joints, a depth camera and a 3D LiDAR in its head — the Robodex's first biped, and the biggest robot in it. Unitree publishes its dimensions and equipment; the mass breakdown here is grouped out of the official model files.
Spec
| Battery | 13-string lithium, 9000 mAh — 46.8 V nominal (54 V charger per the table) |
|---|---|
| Height (standing) | 1320 mm; 450 mm wide, 200 mm deep (Unitree parameter table) |
| Joints | 29 actuated joints — counted from the revolute joints in the official g1_29dof URDF |
| Sensors | Depth camera, 3D LiDAR (Unitree parameter table; both appear as links in the URDF) |
| Weight | ~35 kg with battery (Unitree parameter table) |
| Wiring | Not documented publicly — no wiring block is shown for this robot |
examples/unitree-g1.jsonDimensions, weight, battery and sensors from Unitree's published G1 parameter table (the table lists total DOF options up to 43 with optional arms; the base 29-DOF configuration is what the official g1_29dof URDF models). The URDF's 36 link masses sum to 35.115 kg, grouped in the spec as trunk 12.669 / legs 14.372 / arms 7.038 / head 1.036 kg — within half a percent of the published ~35 kg. Battery voltage 46.8 V is the 13-string nominal (the table's '13-string lithium battery' and 54 V charger imply it). The internal wiring harness is not publicly documented, so this spec carries no wiring block.Gate runs
The motion gate covers ground robots today. This class has no gate yet, so there is no verdict to show — the note below says why, in the entry's own words.
No recorded gate runs yet. This robot has no verdict until one is measured.
Static stability check
A computation from this robot's spec — support-polygon statics, not a simulation run and not a gate verdict. It grades how far the robot can tip before its centre of mass passes over its feet. The gate status above is unchanged by it: this robot is still not gated.
| Grade | UNSTABLE |
|---|---|
| Static tip-over angle (weakest direction) | 2.7° — backward |
| Weakest tip margin | 34 mm from the centre-of-mass projection to the support-polygon edge |
| Margin as share of the body's half-extent | 34% |
| Centre-of-mass height | 0.726 m — ASSUMED at 55% of standing height (printed in the report's assumptions, never buried) |
| Thresholds (v1, printed on the report) | tip angle ≥ 20° STABLE · 10–20° MARGINAL · < 10° UNSTABLE |
Report: catalog/stability-reports/unitree-g1.json · checked 2026-10-26 · reproduce with robotforge stability examples/unitree-g1.json
How it was computed
Support-polygon statics from the spec's declared dimensions: convex hull of the foot contacts, weakest-direction distance from the centre-of-mass projection to a polygon edge, tip-over angle atan(margin / CoM height). No simulation, no motion — a computation, not a gate run.
Support model: Two feet in double support, each a rectangle 0.152 × 0.066 m (length 0.115 × standing height, width 0.05 × height), centred 0.032 × height ahead of the ankle line at ±0.22 × body width — the take-apart viewer's proportions; the spec publishes no foot dimensions.
| Direction | Margin | Tip angle |
|---|---|---|
| to the right | 132 mm | 10.3° |
| forward | 118 mm | 9.2° |
| to the left | 132 mm | 10.3° |
| backward | 34 mm | 2.7° |
Assumptions (all of them, as printed in the report):
- Foot size is derived from standing height with the viewer's proportions; it is not a published dimension.
- Double support: both feet flat on the ground. A humanoid in single support, or mid-step, is a dynamics problem this check does not model.
- Centre of mass sits horizontally at the centre of the body footprint.
- CoM height is ASSUMED at 55% of standing height — the spec declares no CoM height.
- Flat, level ground; rigid body; no payload.
Take it apart
This viewer derives a schematic take-apart straight from the spec's numbers — the same one-derivation rule as the ground kits — flat views, or in 3D with the toggle. It is a schematic of the real robot's layout, not a printable kit: robotforge cad kits cover ground robots only today. Click any part.
examples/unitree-g1.json…Reproduce it
Run these from a clone of the repository. The twin, CAD kit and motion gate (urdf / cad / run-gate) cover ground robots today, so they are not listed here.
robotforge validate examples/unitree-g1.json
robotforge stability examples/unitree-g1.json
robotforge catalog robot 9