Unitree SDK2

Unitree's official open-source development kit for reading sensors and commanding joints and motion on its robots.

Unitree SDK2 refers to unitree_sdk2 (C++) and its Python counterpart unitree_sdk2_python, open-sourced by Unitree Robotics on GitHub for the Go2, B2, H1, and G1 platforms. It's built on DDS communication and offers two levels of interface: a high-level motion interface that lets you send velocity and posture commands directly to make the robot walk, and a low-level interface that sends target position, velocity, stiffness, damping, and feedforward torque to individual joints while reading back IMU and joint state — this is the level used when deploying a reinforcement-learning policy. Because ROS 2 is also built on DDS, the companion unitree_ros2 package lets ROS 2 programs communicate with the robot directly.

ExampleUsing unitree_sdk2_python to read a G1's joint states in a loop at roughly 500 Hz, then sending the policy network's output joint-angle targets with kp and kd gains attached, completes a sim-to-real deployment.

Also called

unitree_sdk2, unitree_sdk2_python, unitree_ros2

Related

Unitree Robotics · Software Development Kit · Secondary Development (custom development on SDK) · Eclipse Cyclone DDS · Robot Operating System 2 · Unitree G1

Sources

unitreerobotics/unitree_sdk2 (GitHub)
unitreerobotics/unitree_ros2 (GitHub)