SDKs, ROS 2 motion integration, Cyvet robot models, x86 Mock / Sim2Sim, example navigation, and locomotion learning workflows for UniUbi quadruped robots.
Docs · C++ SDK · Python SDK · Robot Mock · RL Lab
UniUbi AI is building an open developer ecosystem for quadruped robots. The organization focuses on practical robot software: protocol definitions, C++ and Python SDKs, ROS 2 motion integration, robot-description assets, x86 Mock / Sim2Sim, example navigation, and locomotion training and deployment workflows.
The goal is to make robot development easier to start, safer to test, and clearer to extend from first connection to real-world deployment.
uniubi-docs is the documentation hub for cross-repository guides, recommended paths, safety notes, compatibility and deployment boundaries, and troubleshooting.
Each repository keeps version-aligned local documentation for the capabilities it owns, including installation or build steps, runnable examples or links to them, compatibility notes, and safety limits where applicable. The hub helps developers choose the right path; each repository README describes the checked-out version.
| Area | Repository | Purpose |
|---|---|---|
| Getting Started | uniubi-docs |
Central developer documentation, quick starts, safety guidance, compatibility and deployment boundaries, and troubleshooting. |
uniubi_examples |
Example collection and navigation for C++, Python, ROS 2, media, and learning workflows; runnable code remains in the repositories that own it. | |
| Protocol Interfaces | uniubi_robot_msgs |
Authoritative DDS IDL and ROS 2 message and service definitions shared across the ecosystem. |
| Robot SDK | uniubi_robot_sdk |
Public headers, prebuilt runtime libraries, build integration, and C++ examples for High-level, Low-level, and MediaBus development. |
uniubi_robot_sdk_py |
pybind11 Python bindings for the High-level, Low-level, and MediaBus APIs, with control, media, and TensorRT policy examples. | |
| ROS 2 | uniubi_ros2 |
Motion bridge, reusable C++ motion client, direct DDS / ROS 2 interfaces, and an on-board MediaBus JPEG camera driver. |
| Robot Models | uniubi_robot_description |
Cyvet URDF, MuJoCo XML, USD, meshes, and related robot-description assets. |
| Simulation | uniubi_robot_mock |
x86_64 Mock / Sim2Sim environment for SDK-based High-level and Low-level validation without hardware. |
| Learning | uniubi_rl_lab |
Isaac Lab project for the Cyvet velocity-locomotion task, including PPO training, policy export, MuJoCo / SDK sim2sim, and sim2real guidance. |
| Step | Repository | What to do |
|---|---|---|
| 1 | uniubi-docs |
Read the quick start, compatibility and deployment boundaries, and safety notes. |
| 2 | uniubi_robot_sdk or uniubi_robot_sdk_py |
Choose the C++ or Python SDK for your application. |
| 3 | uniubi_examples |
Use the example index to find runnable code in the corresponding SDK, ROS 2, media, or learning repository. |
| 4 | uniubi_robot_mock |
Validate High-level and Low-level SDK flows with x86_64 Mock / Sim2Sim before using hardware. |
| 5 | uniubi_ros2 or uniubi_rl_lab |
Move into ROS 2 motion integration or Cyvet locomotion learning workflows when ready. |
| 6 | uniubi_robot_msgs |
Use the authoritative DDS IDL and ROS 2 interfaces only when working on protocol-direct integration, interface maintenance, or custom ROS 2 integration. |
Robot software can command real motion. Start with mock or simulation workflows, read repository-specific safety notes, and keep emergency stop access available before running commands on hardware.
Use GitHub Issues for bug reports, feature requests, and project discussions. Please report security-sensitive issues privately according to each repository's security policy.