# Unitree 4D LiDAR L2

> Unitree 4D LiDAR L2: 360° × 90° (96° in negative-angle mode) hemispherical scanning lidar, 0.05–30 m at 90 % reflectivity (15 m at 10 %), 64 000 effective points/s, ≤ 2 cm accuracy, 0.64° angular resolution, built-in 6-axis IMU, Ethernet UDP or 4 Mbaud TTL UART, 12 V / 10 W, IP54, 100 klux, 230 g, 75 × 75 × 65 mm.

- Manufacturer: Unitree Robotics
- Part number: L2
- Category: Lidar & ToF range sensors
- Canonical page: https://www.xirkit.io/products/unitree-4d-lidar-l2-069b
- Pinout: https://www.xirkit.io/products/unitree-4d-lidar-l2-069b/pinout
- Structured JSON: https://www.xirkit.io/products/unitree-4d-lidar-l2-069b/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Lidar type | 3D scanning |
| Ranging method | dToF |
| Min range | 0.05 m |
| Max range | 30 m |
| Max range rated at reflectivity | 90 % |
| Accuracy (±) | 20 mm |
| Scan frequency | 5.55 Hz |
| Sample rate | 64,000 Hz |
| Angular resolution | 0.64 ° |
| Horizontal field of view | 360 ° |
| Vertical field of view | 90 ° |
| Wavelength | 905 nm |
| Laser safety class | Class 1 (IEC 60825-1:2014) |
| Interface | ETHERNET |
| ROS 2 driver | Yes |
| ROS drivers | unitree_lidar_ros2 (ROS 2), unitree_lidar_ros (ROS 1) |
| Ambient light rating | 100 klux |
| IP rating | IP54 |
| Built-in IMU | Yes |
| Power | 10 W |
| Weight | 230 g |
| Supply voltage | 12–12 V |
| Dimensions | 75 × 75 × 65 mm |
| Operating temperature | -10 to 50 °C |

## Pinout (9 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| Power Positive | — | power in | — | power_in | — | — | — | — | — | — | — |
| Power Negative | — | ground | — | ground | — | — | — | — | — | — | — |
| ETHTX+ | — | ethernet | — | ethtx+ | — | — | — | — | — | — | — |
| ETHTX- | — | ethernet | — | ethtx- | — | — | — | — | — | — | — |
| ETHRX+ | — | ethernet | — | ethrx+ | — | — | — | — | — | — | — |
| ETHRX- | — | ethernet | — | ethrx- | — | — | — | — | — | — | — |
| UART_GND | — | ground | — | ground | — | — | — | — | — | — | — |
| UART_RX | — | uart rx | — | uart_rx | — | — | — | — | — | — | — |
| UART_TX | — | uart tx | — | uart_tx | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| aifitlab.com | 395 USD | preorder | 2026-10-17 | https://aifitlab.com/products/unitree-4d-lidar-l2 |

## FAQ

**What voltage powers the Unitree 4D LiDAR L2?**

Supply range 12–12 V.

**How much does the Unitree 4D LiDAR L2 cost?**

From $395 at aifitlab.com. Prices are observed unit prices before tax and shipping.

**What are the Unitree 4D LiDAR L2 dimensions?**

75 × 75 × 65 mm. A STEP model is available for enclosure fit checks.

**Where does this Unitree 4D LiDAR L2 data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [Unitree 4D LiDAR L2 datasheet](https://oss-global-cdn.unitree.com/static/Unitree%204D%20LiDAR%20L2%20User%20Manual.pdf)
- [aifitlab.com listing](https://aifitlab.com/products/unitree-4d-lidar-l2)

## Part graph

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