Get SDK
SDK Introduction
Section titled “SDK Introduction”unitree_ sdk2 is an SDK developed by Unitree Technology for the new generation of robots. The SDK encapsulates interfaces such as basic motor control and high motion control, and provides relevant function interfaces. You can follow the interfaces and routines we provide, along with the 《G1 SDK Development Guide》, to learn robot control and complete the secondary development of G1.
SDK download
Section titled “SDK download”https://github.com/unitreerobotics/unitree_sdk2
Simplified Model - STEP
Section titled “Simplified Model - STEP”| Model | G1-EDU Standard | G1-EDU Andvanced | G1-EDU Ultimate A | G1-EDU Ultimate B | G1-EDU Ultimate C | G1-EDU Ultimate D |
|---|---|---|---|---|---|---|
| configuration | The whole machine has 23dof | The whole machine has 29dof | The whole machine has 29dof + 2 Dex3-1 3-finger dexterous hands (no haptics) | The whole machine has 29dof + 2 Dex3-1 3-finger dexterous hands (tactile included) | The whole machine has 29dof + 2 DFQ dexterous hands of inspire | The whole machine has 29dof + 2 FTP dexterous hands of inspire |
| Simplified model V1.0 | G1-EDU Standard | G1-EDU Andcanced | G1-EDU Ultimate A | G1-EDU Ultimate B | G1-EDU Ultimate C | G1-EDU Ultimate D |
| Simplified model V2.0 | G1-EDU Standard | G1-EDU Andcanced | G1-EDU Ultimate A | G1-EDU Ultimate B | G1-EDU Ultimate C | G1-EDU Ultimate D |
All G1 versions of URDF have been uploaded to the GitHub repository of Yushu and can be downloaded through the following link: URDF to GitHub Download