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unitree_sim_isaaclab

  • Software
  • Humanoids and robot learning
  • Simulator

A simulator built on Isaac Lab that runs Unitree G1 and H1-2 robots in pick-and-place and mobile tasks, using the same DDS protocol as the real robots.

  • Closed core

Made by Unitree Robotics.

Source on GitHub: github.com/unitreerobotics/unitree_sim_isaaclab (opens in a new tab). Facts read at commit e30c25b (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) at commit e30c25b (opens in a new tab), on 23 Oct 2026. A license text Robotheca's reader does not know: a person at Robotheca set it on 23 Oct 2026.

Commercial use
Unknown

It needs closed parts under their own terms: read them before any commercial use.

One part it needs is closed

  • Needs NVIDIA Isaac Sim: Needed for training or simulation; a closed NVIDIA runtime (Omniverse).

Labels

  • Closed coreIt needs closed parts: NVIDIA Isaac Sim.

What it does

  • Simulates Unitree G1 and H1-2 robots with several gripper and dexterous-hand configurations across multiple tasks.
  • Speaks the same DDS topics as the real robot, so control code can be shared between simulation and hardware.
  • Supports teleoperation, replay of recorded datasets, and generation of augmented data with changed lighting and cameras.
  • Tasks with Wholebody in their names allow mobile control of the robot.
  • Can pair with the xr_teleoperate repository for dataset collection.
  • Weight files included are intended only for simulation testing.

Written by Robotheca from the project's README (opens in a new tab) at commit e30c25b.

Getting started

Difficulty
Advanced

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
30 Mar 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 23 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.