# Unitree G1 Robot Setup and Control

This guide covers the complete setup process for the Unitree G1 humanoid, from initial connection to running gr00t_wbc locomotion.

## About the Unitree G1

We offer support for both 29 and 23 DOF G1. We introduce:

- **`unitree g1` robot class, handling low level communication with the humanoid**
- **ZMQ socket bridge** for remote communication over WiFi, allowing one to deploy policies remotely instead of over ethernet or directly on the Orin
- **GR00T locomotion policy** for bipedal walking and balance
- **MuJoCo simulation mode** for testing policies without the physical robot

---

## Part 1: Connect to Robot over Ethernet

### Step 1: Configure Your Computer's Ethernet Interface

Set a static IP on the same subnet as the robot:

```bash
# Replace 'enp131s0' with your ethernet interface name (check with `ip a`)
sudo ip addr flush dev enp131s0
sudo ip addr add 192.168.123.200/24 dev enp131s0
sudo ip link set enp131s0 up
```

**Note**: The robot's Ethernet IP is fixed at `192.168.123.164`. Your computer must use `192.168.123.x` where x ≠ 164.

### Step 2: SSH into the Robot

```bash
ssh unitree@192.168.123.164
# Password: 123
```

You should now be connected to the robot's onboard computer.

---

## Part 2: Enable WiFi on the Robot

Once connected via Ethernet, follow these steps to enable WiFi:

### Step 1: Enable WiFi Hardware

```bash
# Unblock WiFi radio
sudo rfkill unblock wifi
sudo rfkill unblock all

# Bring up WiFi interface
sudo ip link set wlan0 up

# Enable NetworkManager control
sudo nmcli radio wifi on
sudo nmcli device set wlan0 managed yes
sudo systemctl restart NetworkManager
```

### Step 2: Enable Internet Forwarding

**On your laptop:**

```bash
# Enable IP forwarding
sudo sysctl -w net.ipv4.ip_forward=1

# Set up NAT (replace wlp132s0f0 with your WiFi interface)
sudo iptables -t nat -A POSTROUTING -o wlp132s0f0 -s 192.168.123.0/24 -j MASQUERADE
sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTABLISHED -j ACCEPT
sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
```

**On the robot:**

```bash
# Add laptop as default gateway
sudo ip route del default 2>/dev/null || true
sudo ip route add default via 192.168.123.200 dev eth0
echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf

# Test connection
ping -c 3 8.8.8.8
```

### Step 3: Connect to WiFi Network

```bash
# List available networks
nmcli device wifi list

# Connect to your WiFi (example)
sudo nmcli connection add type wifi ifname wlan0 con-name "YourNetwork" ssid "YourNetwork"
sudo nmcli connection modify "YourNetwork" wifi-sec.key-mgmt wpa-psk
sudo nmcli connection modify "YourNetwork" wifi-sec.psk "YourPassword"
sudo nmcli connection modify "YourNetwork" connection.autoconnect yes
sudo nmcli connection up "YourNetwork"

# Check WiFi IP address
ip a show wlan0
```

### Step 4: SSH Over WiFi

Once connected to WiFi, note the robot's IP address and disconnect the Ethernet cable. You can now SSH over WiFi:

```bash
ssh unitree@<YOUR_ROBOT_IP>
# Password: 123
```

Replace `<YOUR_ROBOT_IP>` with your robot's actual WiFi IP address (e.g., `172.18.129.215`).

---

## Part 3: Robot Server Setup

### Step 1: Install LeRobot on the Orin

SSH into the robot and install LeRobot:

```bash
ssh unitree@<YOUR_ROBOT_IP>

conda create -y -n lerobot python=3.10
conda activate lerobot
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e '.[unitree_g1]'
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python  && pip install -e .
```

**Note**: The Unitree SDK requires CycloneDDS v0.10.2 to be installed. See the [Unitree SDK documentation](https://github.com/unitreerobotics/unitree_sdk2_python) for details.

### Step 2: Run the Robot Server

On the robot:

```bash
python src/lerobot/robots/unitree_g1/run_g1_server.py
```

**Important**: Keep this terminal running. The server must be active for remote control.

---

## Part 4: Running GR00T Locomotion

With the robot server running, you can now control the robot from your laptop.

### Step 1: Install LeRobot on your machine

```bash
conda create -y -n lerobot python=3.10
conda activate lerobot
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e '.[unitree_g1]'
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python  && pip install -e .
```

### Step 2: Update Robot IP in Config

Edit the config file to match your robot's WiFi IP:

```python
# In src/lerobot/robots/unitree_g1/config_unitree_g1.py
robot_ip: str = "<YOUR_ROBOT_IP>"  # Replace with your robot's WiFi IP.
```

**Note**: When running directly on the G1 (not remotely), set `robot_ip: str = "127.0.0.1"` instead.

### Step 3: Run the Locomotion Policy

```bash
# Run GR00T locomotion controller
python examples/unitree_g1/gr00t_locomotion.py --repo-id "nepyope/GR00T-WholeBodyControl_g1"
```

### Step 4: Control with Remote

- **Left stick**: Forward/backward and left/right movement
- **Right stick**: Rotation
- **R1 button**: Raise waist height
- **R2 button**: Lower waist height

Press `Ctrl+C` to stop the policy.

---

## Extra: Running in Simulation Mode (MuJoCo)

You can now test and develop policies without a physical robot using MuJoCo. to do so set `is_simulation=True` in config.

## Additional Resources

- [Unitree SDK Documentation](https://github.com/unitreerobotics/unitree_sdk2_python)
- [GR00T Policy Repository](https://huggingface.co/nepyope/GR00T-WholeBodyControl_g1)
- [LeRobot Documentation](https://github.com/huggingface/lerobot)
- [Unitree_IL_Lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot)

---

_Last updated: December 2025_