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Unitree G1-D Humanoid Robot

The Unitree G1-D pairs the G1 upper body with a wheeled chassis and an end-to-end data-collection stack, aimed at teams gathering manipulation demonstrations at scale rather than working on locomotion.

Configurations from
$38,800 – $66,300

10 configurations · compare them

Request a free demo Get a quote

Purchase · Lease

Manufacturer: Unitree
Capability: Humanoid Robots
Support: US sales, setup & service

Overview

What is the Unitree G1-D Humanoid Robot?

Configurations differ mainly by the hands fitted and by whether the VR teleoperation kit and data-acquisition platform are included.

RobotLAB supplies the full Unitree humanoid range in the United States, with 10 G1-D configurations currently listed, from $38,800 to $66,300. Every configuration below is quoted, supported and serviced from the US.

Specifications

Key specs

Height x Width x Depth (Minimum Height)	Approx. 1260 x 525 x 570 mm
Height x Width x Depth (Maximum Height)	Approx. 1680 x 525 x 570 mm
Weight with Battery	Approx. 80 kg
Maximum Arm Payload	Approx. 3kg
Arm Reach (excluding end effector)	Approx. 0.45m
Waist Degrees of Freedom	2
Waist Joint Motion Range	Z±155°, Y -2.5°~+135°
Lifting stroke	450mm; Lifting accuracy: 1mm; Lifting speed: max 60mm/s
Maximum working height	approx. 2m
Cooling system	Localized air cooling
Upper body power supply	Battery-powered or direct power cable connection
Chassis power supply	Battery-powered / Charging station-powered Upper body battery runtime: 2 hours
Chassis battery runtime	6 hours
Upper body battery (quick-release)	9000mAh
Chassis battery (built-in)	30Ah
Includes main unit charger	54V 5A
Includes chassis charging station	51V 10A
Base Computing Power	8-core high-performance CPU
High-Performance Computing Module	NVIDIA Jetson Orin 16G (100 TOPS computing power)
4-Microphone Array	Supported
5W Speaker	Supported
Wi-Fi 6, Bluetooth 5.2	Supported

How it works

Unitree G1-D Humanoid Robot in detail

Choosing a configuration

The table below is the honest version of the spec sheet: it shows only what actually differs between configurations, so you can see what the extra money buys. Shared platform specifications are listed separately — they apply to every unit in the range.

Typical buyers are embodied-AI teams building manipulation datasets. If you are not sure which build fits your work, ask us: we configure these for US customers every week and will tell you when a cheaper configuration does the job.

See the rest of the range on our humanoid robots page, or browse everything we carry from Unitree.

Most configurations differ only by the hand fitted. If you want to compare end effectors on their own, see Unitree humanoid hands and grippers.

Configurations

Which Unitree G1-D Humanoid Robot is right for you?

Every configuration below is the same core platform. They differ in compute, degrees of freedom and end effectors — from $38,800 to $66,300.

G1-D Standard A Humanoid Robot

G1-D Standard A

Programmable G1-D with a pair of Dex1-1 Advanced grippers, with wrist cameras.

End effector

Pair of Dex1-1 Advanced grippers, with wrist cameras

The same strong gripper plus a wrist camera, so the robot can see what it is about to grab.

Full hand specs and what they mean

Type: Two-finger gripper with wrist camera
Motion: 1 DoF per hand. One motor opens and closes both fingers.
Force: Adjustable 5 to 120 N
Load: 20 kg form-fit (horizontal), 5 kg by friction (vertical)
Grip range: 90 mm opening
Speed: Closes fully in 0.24 s
Touch: None
Precision: 0.1 mm position resolution at the fingertip
Wrist camera: RGB wrist camera with mount. A D405 bracket is included, the D405 camera is not.
Weight: 550 g
Size: 143 × 78 × 67 mm
Drive: Motor-driven parallel gripper
Control: Angle, velocity, torque, stiffness and damping
Interface: High-speed RS-485, 1000 Hz (RS-485 to USB board included)
Software: Unitree DDS service; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Vision-guided pick and place and low-cost data collection.
Keep in mind: Cannot use tools made for human fingers.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Standard: on a push-pull base with no electric drive. Runs on battery or a power cable.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$38,800 Get a quote

G1-D Standard D Humanoid Robot

G1-D Standard D

Programmable G1-D with a pair of BrainCo Revo 2 five-finger hands.

End effector

Pair of BrainCo Revo 2 five-finger hands

A light, natural-looking five-finger hand. Each finger closes on its own and the thumb has two motors.

Full hand specs and what they mean

Type: Five-finger hand
Motion: 6 DoF per hand. 6 motors drive 11 joints.
Force: 50 N whole hand, 15 N pinch
Load: 20 kg or more
Grip range: 100 mm opening
Touch: None
Repeatability: 0.1° at the joint
Wrist camera: RGB wrist camera, with mount
Weight: 383 g
Size: 160 mm tall, fingertip to palm base
Control: Position, speed and current
Interface: RS-485 or CAN FD
Software: BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Everyday objects like cups and handles on any Unitree humanoid.
Keep in mind: No touch sensing on this version. The fingers open during power-on calibration, so never power up while holding an object.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Standard: on a push-pull base with no electric drive. Runs on battery or a power cable.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$49,800 Get a quote

G1-D Standard B Humanoid Robot

G1-D Standard B

Programmable G1-D with a pair of Dex3-1 three-finger hands.

End effector

Pair of Dex3-1 three-finger hands

Three fingers with a motor at every joint, and force control. It has more independent motion than the five-finger six-motor hands, but fewer fingers.

Full hand specs and what they mean

Type: Three-finger force-controlled hand
Motion: 7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load: 500 g
Touch: None
Repeatability: ±2 mm at the fingertip
Wrist camera: RGB wrist camera with mount
Weight: 650 to 710 g (Unitree publishes both)
Size: 175 × 88 × 77 mm
Drive: 6 direct-drive joints and 1 geared joint
Control: Force-position hybrid
Interface: USB 2.0, 1000 Hz
Software: Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Manipulation research and teleoperation on the G1, G1-D, H2 and R1.
Keep in mind: Three fingers look less human and cannot use every tool made for a five-finger hand.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Standard: on a push-pull base with no electric drive. Runs on battery or a power cable.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$51,800 Get a quote

G1-D Ultimate A Humanoid Robot

G1-D Ultimate A

Programmable G1-D with a pair of Dex1-1 Advanced grippers, with wrist cameras.

End effector

Pair of Dex1-1 Advanced grippers, with wrist cameras

The same strong gripper plus a wrist camera, so the robot can see what it is about to grab.

Full hand specs and what they mean

Type: Two-finger gripper with wrist camera
Motion: 1 DoF per hand. One motor opens and closes both fingers.
Force: Adjustable 5 to 120 N
Load: 20 kg form-fit (horizontal), 5 kg by friction (vertical)
Grip range: 90 mm opening
Speed: Closes fully in 0.24 s
Touch: None
Precision: 0.1 mm position resolution at the fingertip
Wrist camera: RGB wrist camera with mount. A D405 bracket is included, the D405 camera is not.
Weight: 550 g
Size: 143 × 78 × 67 mm
Drive: Motor-driven parallel gripper
Control: Angle, velocity, torque, stiffness and damping
Interface: High-speed RS-485, 1000 Hz (RS-485 to USB board included)
Software: Unitree DDS service; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Vision-guided pick and place and low-cost data collection.
Keep in mind: Cannot use tools made for human fingers.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Ultimate: on a driven dual-wheel chassis that turns on the spot.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$51,900 Get a quote

G1-D Standard C Humanoid Robot

G1-D Standard C

Programmable G1-D with a pair of Dex3-1 three-finger hands with touch sensing.

End effector

Pair of Dex3-1 three-finger hands with touch sensing

The Dex3-1 with 33 touch sensors, so the robot can feel contact and how hard it is pressing.

Full hand specs and what they mean

Type: Three-finger force-controlled hand with touch sensing
Motion: 7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load: 500 g
Touch: 33 tactile sensors, sensing 10 g to 2.5 kg
Repeatability: ±2 mm at the fingertip
Wrist camera: RGB wrist camera with mount
Weight: 650 to 710 g (Unitree publishes both)
Size: 175 × 88 × 77 mm
Drive: 6 direct-drive joints and 1 geared joint
Control: Force-position hybrid
Interface: USB 2.0, 1000 Hz
Software: Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Learning from touch, and handling delicate objects, in manipulation research.
Keep in mind: Three fingers look less human and cannot use every tool made for a five-finger hand.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Standard: on a push-pull base with no electric drive. Runs on battery or a power cable.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$53,800 Get a quote

G1-D Standard E Humanoid Robot

G1-D Standard E

Programmable G1-D with a pair of BrainCo Revo 2 hands with touch sensing.

End effector

Pair of BrainCo Revo 2 hands with touch sensing

The Revo 2 with touch sensing that reports pressure, friction, direction and when an object is close.

Full hand specs and what they mean

Type: Five-finger hand with touch sensing
Motion: 6 DoF per hand. 6 motors drive 11 joints.
Force: 50 N whole hand, 15 N pinch
Load: 20 kg or more
Grip range: 100 mm opening
Touch: Pressure, friction, direction and proximity at the fingertips
Repeatability: 0.1° at the joint
Wrist camera: RGB wrist camera, with mount
Weight: 383 g
Size: 160 mm tall, fingertip to palm base
Control: Position, speed and current
Interface: RS-485 or CAN FD
Software: BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Handling fragile objects, and recording touch data to train AI.
Keep in mind: Each finger closes as one unit, so it is not built for rolling objects within the fingers. The fingers open during power-on calibration.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Standard: on a push-pull base with no electric drive. Runs on battery or a power cable.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$53,800 Get a quote

G1-D Ultimate D Humanoid Robot

G1-D Ultimate D

Programmable G1-D with a pair of BrainCo Revo 2 five-finger hands.

End effector

Pair of BrainCo Revo 2 five-finger hands

A light, natural-looking five-finger hand. Each finger closes on its own and the thumb has two motors.

Full hand specs and what they mean

Type: Five-finger hand
Motion: 6 DoF per hand. 6 motors drive 11 joints.
Force: 50 N whole hand, 15 N pinch
Load: 20 kg or more
Grip range: 100 mm opening
Touch: None
Repeatability: 0.1° at the joint
Wrist camera: RGB wrist camera, with mount
Weight: 383 g
Size: 160 mm tall, fingertip to palm base
Control: Position, speed and current
Interface: RS-485 or CAN FD
Software: BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Everyday objects like cups and handles on any Unitree humanoid.
Keep in mind: No touch sensing on this version. The fingers open during power-on calibration, so never power up while holding an object.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Ultimate: on a driven dual-wheel chassis that turns on the spot.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$62,300 Get a quote

G1-D Ultimate B Humanoid Robot

G1-D Ultimate B

Programmable G1-D with a pair of Dex3-1 three-finger hands.

End effector

Pair of Dex3-1 three-finger hands

Three fingers with a motor at every joint, and force control. It has more independent motion than the five-finger six-motor hands, but fewer fingers.

Full hand specs and what they mean

Type: Three-finger force-controlled hand
Motion: 7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load: 500 g
Touch: None
Repeatability: ±2 mm at the fingertip
Wrist camera: RGB wrist camera with mount
Weight: 650 to 710 g (Unitree publishes both)
Size: 175 × 88 × 77 mm
Drive: 6 direct-drive joints and 1 geared joint
Control: Force-position hybrid
Interface: USB 2.0, 1000 Hz
Software: Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Manipulation research and teleoperation on the G1, G1-D, H2 and R1.
Keep in mind: Three fingers look less human and cannot use every tool made for a five-finger hand.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Ultimate: on a driven dual-wheel chassis that turns on the spot.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$64,300 Get a quote

G1-D Ultimate C Humanoid Robot

G1-D Ultimate C

Programmable G1-D with a pair of Dex3-1 three-finger hands with touch sensing.

End effector

Pair of Dex3-1 three-finger hands with touch sensing

The Dex3-1 with 33 touch sensors, so the robot can feel contact and how hard it is pressing.

Full hand specs and what they mean

Type: Three-finger force-controlled hand with touch sensing
Motion: 7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load: 500 g
Touch: 33 tactile sensors, sensing 10 g to 2.5 kg
Repeatability: ±2 mm at the fingertip
Wrist camera: RGB wrist camera with mount
Weight: 650 to 710 g (Unitree publishes both)
Size: 175 × 88 × 77 mm
Drive: 6 direct-drive joints and 1 geared joint
Control: Force-position hybrid
Interface: USB 2.0, 1000 Hz
Software: Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Learning from touch, and handling delicate objects, in manipulation research.
Keep in mind: Three fingers look less human and cannot use every tool made for a five-finger hand.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Ultimate: on a driven dual-wheel chassis that turns on the spot.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$66,300 Get a quote

G1-D Ultimate E Humanoid Robot

G1-D Ultimate E

Programmable G1-D with a pair of BrainCo Revo 2 hands with touch sensing.

End effector

Pair of BrainCo Revo 2 hands with touch sensing

The Revo 2 with touch sensing that reports pressure, friction, direction and when an object is close.

Full hand specs and what they mean

Type: Five-finger hand with touch sensing
Motion: 6 DoF per hand. 6 motors drive 11 joints.
Force: 50 N whole hand, 15 N pinch
Load: 20 kg or more
Grip range: 100 mm opening
Touch: Pressure, friction, direction and proximity at the fingertips
Repeatability: 0.1° at the joint
Wrist camera: RGB wrist camera, with mount
Weight: 383 g
Size: 160 mm tall, fingertip to palm base
Control: Position, speed and current
Interface: RS-485 or CAN FD
Software: BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation: Supported by Unitree's xr_teleoperate
Best for: Handling fragile objects, and recording touch data to train AI.
Keep in mind: Each finger closes as one unit, so it is not built for rolling objects within the fingers. The fingers open during power-on calibration.

Compare every hand, with terms explained →

Control and programming

Programming: Yes, at joint level. C++ or Python SDK, over DDS or ROS 2. Unitree notes the G1 high-level motion interface does not apply.
Remote: Handheld remote included: lift column and data-collection mode. The G1-D does not walk.
App: Unitree Explore (iOS; Android by download from Unitree)
Warranty: 12 months

More on control

Your code runs on: Jetson Orin 16 GB, 100 TOPS (PC2), plus a visualization computer. AGX Orin or Thor docks are optional.
Teleoperation: Built for it: VR teleoperation data mode with Unitree xr_teleoperate. PICO VR kit and data-collection software are available as accessories.
Voice: 4-microphone array and 5 W speaker
App features: Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates: Over the air

Compute: Jetson Orin 16 GB, 100 TOPS, plus a visualization computer.
Ultimate: on a driven dual-wheel chassis that turns on the spot.
7-DoF arms carrying about 3 kg, 2-DoF waist, lift column with 500 mm of travel. Works up to about 2 m high.
Head stereo camera and two wrist cameras.

$66,300 Get a quote

Configuration	End effector	DoF	Compute	Programming	Warranty	Price
G1-D Standard A Humanoid Robot	Dex1-1 Advanced gripper	19	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$38,800
G1-D Standard D Humanoid Robot	BrainCo Revo 2	29	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$49,800
G1-D Standard B Humanoid Robot	Dex3-1 3-finger	31	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$51,800
G1-D Ultimate A Humanoid Robot	Dex1-1 Advanced gripper	21	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$51,900
G1-D Standard C Humanoid Robot	Dex3-1 3-finger, tactile	31	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$53,800
G1-D Standard E Humanoid Robot	BrainCo Revo 2, tactile	29	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$53,800
G1-D Ultimate D Humanoid Robot	BrainCo Revo 2	31	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$62,300
G1-D Ultimate B Humanoid Robot	Dex3-1 3-finger	33	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$64,300
G1-D Ultimate C Humanoid Robot	Dex3-1 3-finger, tactile	33	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$66,300
G1-D Ultimate E Humanoid Robot	BrainCo Revo 2, tactile	31	Jetson Orin, 100 TOPS	Yes, joint level	12 months	$66,300

Prices are US MSRP and exclude tax, duty and freight. Configurations, lead times and specifications are subject to change by the manufacturer.

See it in action

Teleoperation and data collection, end to end

A full tabletop manipulation session with close-up views of the hands and workspace — this is the workflow the G1-D exists for.

Footage courtesy of Unitree Robotics.

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UBTech's flagship full-size bipedal humanoid, purpose-configured for university and research-lab work in locomotion, manipulation, and embodied AI.

RaaS $6,944/mo(36mo)

From $250,000 purchase

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Unitree Humanoid

Unitree G1 Humanoid Robot

The Unitree G1 is a compact bipedal humanoid built for research, education and content work. It stands about 1.27 m, weighs roughly 35 kg with its quick-release battery, and ships with 23 degrees of freedom — rising to 4

From $17,990 purchase

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Unitree Humanoid

Unitree R1-A5 Dual-Arm Humanoid Robot

The Unitree R1-A5 is a fixed-base dual-arm humanoid: 13 degrees of freedom (5 per arm, 1 waist, 2 head), roughly 11 kg, with a 420 mm arm reach and about 2 kg payload per arm. The R1-A5-D variant adds a wheeled chassis a

From $7,200 purchase

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Unitree Humanoid

Unitree H2 Humanoid Robot

The Unitree H2 is a full-size humanoid: 1.82 m tall, about 70 kg with battery, and 31 degrees of freedom across 6 per leg, 7 per arm, 3 at the waist and 2 in the head. Peak arm payload is around 15 kg and battery life is

From $39,900 purchase

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Unitree G1-D Humanoid Robot

What is the Unitree G1-D Humanoid Robot?

Key specs

Unitree G1-D Humanoid Robot in detail

Choosing a configuration

Which Unitree G1-D Humanoid Robot is right for you?

G1-D Standard A Humanoid Robot

G1-D Standard D Humanoid Robot

G1-D Standard B Humanoid Robot

G1-D Ultimate A Humanoid Robot

G1-D Standard C Humanoid Robot

G1-D Standard E Humanoid Robot

G1-D Ultimate D Humanoid Robot

G1-D Ultimate B Humanoid Robot

G1-D Ultimate C Humanoid Robot

G1-D Ultimate E Humanoid Robot

Teleoperation and data collection, end to end

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More humanoid robots robots

Walker Humanoid Service Robot For Research

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Unitree H2 Humanoid Robot