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Martino Russi
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# Unitree G1 Robot Setup and Control
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This guide covers the complete setup process for the Unitree G1 humanoid robot, from initial connection to running locomotion policies.
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## 🤖 About the Unitree G1
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The Unitree G1 humanoid comes in two flavors: 29-DOF and 23-DOF humanoid robot capable of whole-body control, manipulation, and locomotion. In this first PR we introduce:
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- **Low-level motor control** via DDS (Data Distribution Service)
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- **ZMQ socket bridge** for remote communication over WiFi, allowing one to deploy policies remotely instead of over ethernet or directly on the Orin
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- **GR00T locomotion policiey** for bipedal walking and balance
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---
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## Part 1: Connect to Robot over Ethernet
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### Step 1: Configure Your Computer's Ethernet Interface
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Set a static IP on the same subnet as the robot:
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```bash
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# Replace 'enp131s0' with your ethernet interface name (check with `ip a`)
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sudo ip addr flush dev enp131s0
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sudo ip addr add 192.168.123.200/24 dev enp131s0
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sudo ip link set enp131s0 up
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```
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> **Note**: The robot's Ethernet IP is fixed at `192.168.123.164`. Your computer must use `192.168.123.x` where x ≠ 164.
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### Step 2: SSH into the Robot
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```bash
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ssh unitree@192.168.123.164
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# Password: 123
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```
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You should now be connected to the robot's onboard computer.
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---
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## Part 2: Enable WiFi on the Robot
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Once connected via Ethernet, follow these steps to enable WiFi:
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### Step 1: Enable WiFi Hardware
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```bash
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# Unblock WiFi radio
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sudo rfkill unblock wifi
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sudo rfkill unblock all
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# Bring up WiFi interface
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sudo ip link set wlan0 up
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# Enable NetworkManager control
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sudo nmcli radio wifi on
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sudo nmcli device set wlan0 managed yes
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sudo systemctl restart NetworkManager
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```
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### Step 2: Enable Internet Forwarding
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**On your laptop:**
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```bash
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# Enable IP forwarding
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sudo sysctl -w net.ipv4.ip_forward=1
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# Set up NAT (replace wlp132s0f0 with your WiFi interface)
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sudo iptables -t nat -A POSTROUTING -o wlp132s0f0 -s 192.168.123.0/24 -j MASQUERADE
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sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTABLISHED -j ACCEPT
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sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
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```
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**On the robot:**
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```bash
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# Add laptop as default gateway
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sudo ip route del default 2>/dev/null || true
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sudo ip route add default via 192.168.123.200 dev eth0
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echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
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# Test connection
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ping -c 3 8.8.8.8
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```
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### Step 3: Connect to WiFi Network
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```bash
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# List available networks
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nmcli device wifi list
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# Connect to your WiFi (example)
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sudo nmcli connection add type wifi ifname wlan0 con-name "YourNetwork" ssid "YourNetwork"
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sudo nmcli connection modify "YourNetwork" wifi-sec.key-mgmt wpa-psk
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sudo nmcli connection modify "YourNetwork" wifi-sec.psk "YourPassword"
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sudo nmcli connection modify "YourNetwork" connection.autoconnect yes
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sudo nmcli connection up "YourNetwork"
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# Check WiFi IP address
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ip a show wlan0
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```
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### Step 4: SSH Over WiFi
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Once connected to WiFi, note the robot's IP address (e.g., `172.18.129.215`) and disconnect the Ethernet cable. You can now SSH over WiFi:
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```bash
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ssh unitree@172.18.129.215
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# Password: 123
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```
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---
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## Part 3: Robot Server Setup
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The robot server introduced here acts as a DDS-to-ZMQ bridge, allowing your one to control the robot wirelessly.
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### Step 1: Copy Server Script to Robot
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From your laptop, copy the robot server script:
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```bash
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# Copy the server script
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scp src/lerobot/robots/unitree_g1/robot_server.py unitree@172.18.129.215:~/robot_server.py
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# Copy required dependencies if needed
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scp src/lerobot/robots/unitree_g1/g1_utils.py unitree@172.18.129.215:~/g1_utils.py
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```
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### Step 2: Install Dependencies on Robot
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SSH into the robot and install required packages:
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```bash
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ssh unitree@172.18.129.215
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# Install build tools and Python dependencies
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sudo apt update
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sudo apt install -y build-essential python3-dev python3-pip
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# Install Python packages
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pip3 install pyzmq pickle5
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# Install Unitree SDK (if not already installed)
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git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
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cd unitree_sdk2_python
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pip3 install -e .
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```
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NOTE: unitreesdk requires dds v 10.2 to be installed
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### Step 3: Run the Robot Server
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On the robot:
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```bash
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python3 ~/robot_server.py
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```
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You should see output like:
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```
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Robot server listening on:
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Commands: tcp://*:6000 (PULL)
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State: tcp://*:6001 (PUB)
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DDS initialized, forwarding started...
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```
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> **Important**: Keep this terminal running. The server must be active for remote control.
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---
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## 🚶 Part 4: Running GR00T Locomotion
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With the robot server running, you can now control the robot from your laptop.
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### Step 1: Update Robot IP in Config
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Edit the config file to match your robot's WiFi IP:
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```python
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# In src/lerobot/robots/unitree_g1/config_unitree_g1.py
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robot_ip: str = "172.18.129.215" # Your robot's WiFi IP
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```
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### Step 2: Run the Locomotion Policy
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```bash
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# Run GR00T locomotion controller (downloads policies from HuggingFace)
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python examples/unitree_g1/gr00t_locomotion.py --repo-id "nepyope/GR00T-WholeBodyControl_g1"
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# Or use the default repo (same as above):
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python examples/unitree_g1/gr00t_locomotion.py
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```
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The script will:
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1. Download Balance and Walk policies from the Hub (cached locally after first run)
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2. Connect to the robot server over WiFi/ZMQ
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3. Initialize the robot and locomotion controller
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4. Gradually move legs to default standing position (3 seconds)
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5. Start locomotion control loop at 50Hz in background thread
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6. Accept commands from the wireless remote controller
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**Expected output:**
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```
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INFO - Loading GR00T Balance policy...
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INFO - Loading GR00T Walk policy...
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INFO - [UnitreeG1] Initialize UnitreeG1...
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INFO - [UnitreeG1] Connected to robot.
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INFO - Reached default position (legs only)
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INFO - Locomotion control thread started!
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INFO - Robot initialized with GR00T locomotion policies
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INFO - Locomotion controller running in background thread
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INFO - Press Ctrl+C to stop
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```
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### Step 3: Control with Remote
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- **Left stick**: Forward/backward and left/right movement
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- **Right stick**: Rotation
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- **R1 button**: Raise waist height
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- **R2 button**: Lower waist height
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To stop, press `Ctrl+C` in the terminal.
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---
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## Additional Resources
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- [Unitree SDK Documentation](https://github.com/unitreerobotics/unitree_sdk2_python)
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- [GR00T Policy Repository](https://huggingface.co/nepyope/GR00T-WholeBodyControl_g1)
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- [LeRobot Documentation](https://github.com/huggingface/lerobot)
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- [Unitree_IL_Lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot)
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---
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*Last updated: November 2025*
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