Unitree App Templates

Welcome to the Unitree App Templates repository!

This repository provides an out-of-the-box development environment to help developers quickly get started with building applications for Unitree robots.

Repository Structure

This repository follows a monorepo structure. The main components are described below.

Example Projects

Directory Path	Example Name	Language	Description
g1_mimic_demo/	G1 Mimic Learning Demo	C++ main controller, Python service	Demonstrates how to use mimic learning policies to control G1 to perform actions (e.g., Gangnam Style, Kaichangquan, etc.).

For detailed robot control documentation, please refer to the official Unitree SDK repositories: https://github.com/unitreerobotics

Application Packaging Requirements

Applications are deployed using Docker as the underlying infrastructure. Any programming language or framework is supported. To publish your app, you only need to satisfy the following minimum requirements:

File/Folder	Required	Description
app/	Yes	Application folder containing binaries or scripts required to run the program. The entry point must be defined in metadata.yaml. The app must provide an HTTP service on port 80.
metadata.yaml	Yes	Application metadata file containing basic app information and configuration.

Quick Start

Running G1 Mimic Learning Demo

Navigate to the directory and start the service:

cd g1_mimic_demo
python3 ./app/g1/cmd_server.py

For detailed instructions, please refer to g1_mimic_demo/README.md.

Packaging

tar -czvf your_app_name.tar.gz ./app

Finally, upload your_app_name.tar.gz to UniStore.