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Unitree G1

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Unitree G1

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

About

We support both 29 and 23 DOF G1 EDU version. We introduce:

  • unitree g1 robot class, handling low level read/write from/to the humanoid
  • ZMQ socket bridge for remote communication and camera streaming, allowing for remote policy deployment over wlan, eth or directly on the robot
  • Locomotion policies from NVIDIA gr00t and Amazon FAR Holosoma
  • Simulation mode for testing policies without the physical robot in mujoco

Connection guide

Step 1: Configure Ethernet Interface

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

# 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 G1’s Ethernet IP is fixed at 192.168.123.164. Your computer must use 192.168.123.x with x ≠ 164.

Step 2: SSH into the Robot

ssh unitree@192.168.123.164
# Password: 123

You should now be connected to the G1’s Orin.

Part 2: Enable WiFi on the Robot

Wlan0 is disabled by default on the G1. To enable it:

Step 1: Enable WiFi Hardware

sudo rfkill unblock wifi
sudo rfkill unblock all

# Bring up wlan0
sudo ip link set wlan0 up

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

Step 2: Enable Internet Forwarding

On your laptop:

# 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 G1:

# 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

# 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:

ssh unitree@<YOUR_ROBOT_IP>
# Password: 123

Replace <YOUR_ROBOT_IP> with your robot’s actual WiFi IP address.

Part 3: Robot Server Setup

Step 1: Install LeRobot on the Orin

SSH into the robot and install LeRobot:

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 for details.

Step 2: Run the Robot Server

On the robot:

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: Controlling the robot

With the robot server running, you can now control the robot remotely. Let’s launch a locomotion policy

Step 1: Install LeRobot on your machine

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:

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

Step 3: Run the Locomotion Policy

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

# Run Holosoma locomotion controller
python examples/unitree_g1/holosoma_locomotion.py

Press Ctrl+C to stop the policy.

Running in Simulation Mode (MuJoCo)

You can test policies before deploying on the physical robot using MuJoCo simulation. Set is_simulation=True in config or pass --robot.is_simulation=true via CLI.

Calibrate Exoskeleton Teleoperator

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

Teleoperate in Simulation

lerobot-teleoperate \
    --robot.type=unitree_g1 \
    --robot.is_simulation=true \
    --teleop.type=unitree_g1 \
    --teleop.left_arm_config.port=/dev/ttyACM1 \
    --teleop.right_arm_config.port=/dev/ttyACM0 \
    --teleop.id=exo \
    --fps=100

Record Dataset in Simulation

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.vcodec=auto \
    --dataset.encoder_threads=2

Example simulation dataset: nepyope/teleop_test_sim

Running on Real Robot

Once the robot server is running on the G1 (see Part 3), you can teleoperate and record on the real robot.

Start the Camera Server

On the robot, start the ZMQ image server:

python src/lerobot/cameras/zmq/image_server.py

Keep this running in a separate terminal for camera streaming during recording.

Teleoperate Real Robot

lerobot-teleoperate \
    --robot.type=unitree_g1 \
    --robot.is_simulation=false \
    --teleop.type=unitree_g1 \
    --teleop.left_arm_config.port=/dev/ttyACM1 \
    --teleop.right_arm_config.port=/dev/ttyACM0 \
    --teleop.id=exo \
    --fps=100

Record Dataset on Real Robot

lerobot-record \
    --robot.type=unitree_g1 \
    --robot.is_simulation=false \
    --robot.cameras='{"global_view": {"type": "zmq", "server_address": "172.18.129.215", "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.vcodec=auto \
    --dataset.encoder_threads=2

Note: Update server_address to match your robot’s camera server IP.

Example real robot dataset: nepyope/teleop_test_real

Additional Resources

Last updated: December 2025

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