Bipeds / humanoids

Class definition

Walking robots (IFR type A2). Arm load is posture-dependent on every Unitree page; the table preserves rated versus peak values where the vendor states them. Dimensions and reach are normalized to millimetres.

Unitree family — vendor pages

Prices exclude tax and shipping. Dimensions normalized to millimetres; every value is repeated per column rather than written as same. H1 and H1-2 are different robots. Battery, sensor, and DoF axes are one row each: a runtime cell never carries a pack spec, and a sensor cell names the sensor type. Runtime is the vendor’s bare “battery life” figure — no Unitree page states the duty cycle it was measured at, so the hours are not comparable across columns. The H1 / H1-2 page publishes per-limb DoF only and no whole-robot total; no total is derived for those two columns.

H-series low-level sheet (joints)

Subsystem comparison for H1, H1-2, and H2. Named-joint torque is split rather than collapsed into one unlabeled value.

R1 / G1 low-level sheet (joints)

Same shape as the H-series sheet, for the two small Unitree bipeds. Joint travel is the vendor’s own range notation; the R1 and G1 pages use different arm definitions, so forearm + upper arm length and arm span stay on separate rows instead of being merged into one number. Galbot G1 is a different machine and is not on this table.

The R1 page also lists an R1 EDU SKU (26–40 DoF, optional dexterous hand, 12-month warranty, contact sales) [M1]. It is not given a column here because the family table above carries R1 AIR and R1 only.

AgiBot X2 family — vendor product table

Copied from the official X2 series product specification table. X2 and X2 Ultra share envelope and arm reach; they do not share DoF, mass, sensors, or compute. This family is not the AgiBot A2 reseller field column. End-effectors (OmniHand, OmniPicker) are Ultra-only, sold separately, and never added to the payload row. AimDK documents the Ultra only and lists battery ≈421 Wh; the product table lists ≈500 Wh for both SKUs — the cell uses the product table.

AimDK Ultra sheet lists battery ≈421 Wh [M10]. That figure is not copied into the cells above. Audio I/O (microphone array, wireless microphone, speaker) and interactive screen are listed for both SKUs on the product page and are omitted here because they are not comparable mechanical metrics.

Fourier GR-2 — live product page

Primary numbers are from the live Fourier GR-2 product page. Height is normalized to millimetres from the vendor’s 175 cm listing. Total DoF and single-arm load come from the 2024-09-26 launch note and are press-graded. The Fourier 文档中心 “About GR-2” URL returned HTTP 404 on 2026-08-27, so envelope 1750 × 552 × 275 mm, ≈950 Wh, 39.6 V, and 436 N·m peak joint from indexed snippets of that dead page are not copied. Peak torque on the live product page is 380 N·m; those two torque figures are not collapsed.

The launch note also restates 175 cm and 63 kg; those overlapping figures stay on the product-page marker. Optional 12-DoF hands are the configuration the launch note uses for the 53-DoF total.

Same-class field — bipeds with a published sheet

Only bipeds with an adequate sheet appear. AgiBot A2 is reseller-sourced (Generation Robots) and every A2 cell carries the reseller label. AgiBot X2 / X2 Ultra and Fourier GR-2 stay in their own family tables so a reseller A2 cell is never mixed with a vendor X2 cell. LATENT is not a hardware table entry. Arm load is split into rated and peak rows rather than collapsed: Unitree publishes both for H2 but only a posture-dependent maximum for G1. Reach is split by definition — arm span (G1) and forearm + upper arm length (H2) are different measurements and never share a row. Environment rows exist only where a vendor or reseller states them; neither Unitree page publishes an operating temperature, so no temperature row is invented.

Galbot ET1 is a biped but has no public quantitative sheet; it appears only on the announced systems page, never in a numeric table.

Engineering models

Official Unitree robot models, linked as downloads. Formats are identified per link. Every URDF here is assembled live on the 3D models page; that page is publication evidence and adds no specification.

• Unitree ROS — URDF descriptions under unitree_ros. github.com/unitreerobotics/unitree_ros BSD-3-Clause [M6]
• Unitree MuJoCo — MJCF models under unitree_mujoco. github.com/unitreerobotics/unitree_mujoco BSD-3-Clause [M7]
• Unitree model dataset — URDF / MJCF / USD / STL / DAE assets. huggingface.co/datasets/unitreerobotics/unitree_model BSD-3-Clause [M8]
• AgiBot X2 Ultra — URDF v1.4.0 with STL meshes; assembled on the 3D models page. github.com/AgibotTech/agibot_x2_urdf Mulan PSL v2
• Fourier GR2 — URDF v3.0.1 with STL meshes (GPL-3.0; live load only). github.com/FFTAI/Wiki-GRx-Models GPL-3.0