lerobot/docs/source/unitree_g1.mdx

# Unitree G1

<img
  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/unitree_thumbnail.jpg"
  alt="Unitree G1 locomanipulation demo"
  style={{ width: "100%" }}
/>

The Unitree G1 humanoid is now supported in LeRobot! You can teleoperate, train locomanipulation policies, test in sim, and more. Both 29 and 23 DoF variants are supported.

---

## Part 1: Getting Started

### Install LeRobot on Your Machine

```bash
conda create -y -n lerobot python=3.12
conda activate lerobot
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python && pip install -e .
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e '.[unitree_g1]'
```

### Test the Installation (Simulation)

```bash
lerobot-teleoperate \
  --robot.type=unitree_g1 \
  --robot.is_simulation=true \
  --teleop.type=unitree_g1 \
  --teleop.id=wbc_unitree \
  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
  --display_data=true
```

This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1.

- Press `9` to release the robot
- Press `7` / `8` to increase / decrease waist height

### Connect to the Robot

The G1's Ethernet IP is fixed at `192.168.123.164`. Your machine must have a static IP on the same subnet: `192.168.123.x` where `x ≠ 164`.

```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
```

### SSH into the Robot

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

### Install LeRobot on the G1

From the robot:

```bash
conda create -y -n lerobot python=3.12
conda activate lerobot
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python && pip install -e .
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e '.[unitree_g1]'
```

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

---

## Part 2: Enable WiFi on the Robot

Wi-Fi connectivity is blocked by default on the G1. To activate:

```bash
sudo rfkill unblock all
sudo ip link set wlan0 up
sudo nmcli radio wifi on
sudo nmcli device set wlan0 managed yes
sudo systemctl restart NetworkManager
```

**On your laptop** (share internet via Ethernet):

```bash
sudo sysctl -w net.ipv4.ip_forward=1

# Replace wlp132s0f0 with your WiFi interface name
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 G1** (set default route through your laptop):

```bash
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

# Verify
ping -c 3 8.8.8.8
```

**Connect to a WiFi network:**

```bash
nmcli device wifi list

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"

ip a show wlan0
```

You can now SSH over WiFi:

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

---

## Part 3: Teleoperation & Locomotion

### Run the Robot Server

On the robot:

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

### Run the Locomotion Policy

```bash
lerobot-teleoperate \
  --robot.type=unitree_g1 \
  --robot.is_simulation=false \
  --robot.robot_ip=<ROBOT_IP> \
  --teleop.type=unitree_g1 \
  --teleop.id=wbc_unitree \
  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "<ROBOT_IP>", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
  --display_data=true \
  --robot.controller=HolosomaLocomotionController
```

We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl).

---

## Part 4: Loco-Manipulation with the Homunculus Exoskeleton

We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Assembly instructions [here](https://github.com/nepyope/hmc_exo).

### Calibrate

```bash
lerobot-calibrate \
  --teleop.type=unitree_g1 \
  --teleop.left_arm_config.port=/dev/ttyACM1 \
  --teleop.right_arm_config.port=/dev/ttyACM0 \
  --teleop.id=exo
```

During calibration move each joint through its entire range. After fitting, move the joint in a neutral position and press `n` to advance.

### Record a Dataset

```bash
lerobot-record \
  --robot.type=unitree_g1 \
  --robot.is_simulation=true \
  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
  --teleop.type=unitree_g1 \
  --teleop.left_arm_config.port=/dev/ttyACM1 \
  --teleop.right_arm_config.port=/dev/ttyACM0 \
  --teleop.id=exo \
  --dataset.repo_id=your-username/dataset-name \
  --dataset.single_task="Test" \
  --dataset.num_episodes=2 \
  --dataset.episode_time_s=5 \
  --dataset.reset_time_s=5 \
  --dataset.push_to_hub=true \
  --dataset.streaming_encoding=true \
  --dataset.encoder_threads=2
```

> **Note:** Omit `--teleop.left_arm_config.port` and `--teleop.right_arm_config.port` if you're only using the joystick.

Example dataset: [nepyope/unitree_box_move_blue_full](https://huggingface.co/datasets/nepyope/unitree_box_move_blue_full)

---

## Part 5: Training & Inference

### Train

```bash
python src/lerobot/scripts/lerobot_train.py \
  --dataset.repo_id=your-username/dataset-name  \
  --policy.type=pi05 \
  --output_dir=./outputs/pi05_training \
  --job_name=pi05_training \
  --policy.repo_id=your-username/your-repo-id \
  --policy.pretrained_path=lerobot/pi05_base \
  --policy.compile_model=true \
  --policy.gradient_checkpointing=true \
  --wandb.enable=true \
  --policy.dtype=bfloat16 \
  --policy.freeze_vision_encoder=false \
  --policy.train_expert_only=false \
  --steps=3000 \
  --policy.device=cuda \
  --batch_size=32
```

### Inference with RTC

Once trained, we recommend deploying policies using inference-time RTC:

```bash
python examples/rtc/eval_with_real_robot.py \
  --policy.path=your-username/your-repo-id \
  --policy.device=cuda \
  --robot.type=unitree_g1 \
  --robot.is_simulation=false \
  --robot.controller=HolosomaLocomotionController \
  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "<ROBOT_IP>", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
  --task="task_description" \
  --duration=1000 \
  --fps=30 \
  --rtc.enabled=true
```

---

## Additional Resources

- [Unitree SDK Documentation](https://github.com/unitreerobotics/unitree_sdk2_python)
- [GR00T-WholeBodyControl](https://github.com/NVlabs/GR00T-WholeBodyControl)
- [Holosoma](https://github.com/amazon-far/holosoma)
- [LeRobot Documentation](https://github.com/huggingface/lerobot)
- [Unitree IL LeRobot](https://github.com/unitreerobotics/unitree_IL_lerobot)

---

_Last updated: March 2026_