Unitree G1¶

Requirements¶

• Unitree G1 EDU (need SDK/SSH access)
• Laptop/Desktop with Ubuntu 22.04/24.04 with CUDA GPU (recommended), or macOS (experimental)

1. Get SSH Access¶

Get Ethernet Working¶

1. Plug an Ethernet cable from the robot into your Laptop
2. Open up your Laptop's graphical network manager, manually set the IP addr of your system to 192.168.123.100
3. Run wired ssh command:

ssh -L 3030:localhost:3030 unitree@192.168.123.164
# Password: 123

Use Ethernet to get WiFi Working¶

After ssh-ing in, find additional IPs:

hostname -I

WiFi passwords (varies by unit): 888888888 or 00000000

Network Interface Names¶

Common interface names needed for SDK examples: - eth0 / enp2s0: Ethernet - wlan0: WiFi

Check with: ip addr show

Remote Network¶

Recommended to setup tailscale to avoid needing to setup rounter specific configuraions for wireless control.

2. Install dimOS¶

SSH into the robot, then:

# pick the "developer" setup
bash <(curl -fsSL https://pub-4767fdd15e6a41b6b2ce2558d71ec8d9.r2.dev/install.sh)

Notes¶

dimOS handles DDS setup automatically. If you're using the Unitree SDK directly, set:

export CYCLONEDDS_HOME="$HOME/cyclonedds/install"

3. Get the G1 in Sport Mode¶

WARNING: You need to have the G1 in a good physical position before running this.

Get the hand-held controller for the G1.

Note: this button combination may vary based on the model of the G1

1. If you have a gantry, hang the robot up where its feet are touching the floor, knees straight.
2. Press L2 + B (no movement, color change)
3. Press L2 + Up (should straighten out)
4. Press R2 + A (will attempt to self-balance)
5. If don't have a gantry, there is a make-shift way to get it working. You should get a second person to help.
6. Make the robot lie down flat on the ground
7. Press L2 + B (no movement, color change)
8. Press L2 + Up (should straighten out)
9. The robot will be super stiff now. Manually pick it up into a standing position and hold it there.
10. Press R2 + A (will attempt to self-balance)

4. Start G1 teleoperation¶

The robot must already be standing and balancing in sport mode. Use a clear, level work area, keep the Unitree remote and emergency stop reachable, and use a gantry or spotter for the first hardware run. Keep the robot stationary while using Quest arm teleoperation or planned manipulation; Quest thumbsticks do not command locomotion in this blueprint.

On the G1 computer:

uv sync --extra all
uv run dimos run unitree-g1-teleop --network-interface eth0

The teleop blueprint excludes navigation and mapping, so no module-disable arguments are needed. Wait for the Quest server to listen on port 8443, then activate the robot from a second SSH session:

uv run dimos hardware g1 status
uv run dimos hardware g1 activate
uv run dimos hardware g1 status
uv run dimos hardware g1 ready

activate runs the GR00T pose ramp and requires interactive confirmation before enabling output. Check the status before ready moves both arms to the conservative ready pose. Routine startup must use these hardware commands rather than dimos shell. activate --ready remains available as a combined shortcut.

Open https://<g1-computer-ip>:8443/teleop in the Quest browser and accept the self-signed certificate.

The blueprint also serves the Viser manipulation panel at http://<g1-computer-ip>:8095. It can execute arm motion; only expose this port on a trusted robot network. Quest arm targets preempt planned arm trajectories.

When finished, cancel arm motion, enter dry-run, and disarm:

uv run dimos hardware g1 disable

5. Legacy navigation viewer example¶

In the ssh terminal ssh -L 3030:localhost:3030 unitree@192.168.123.164

source .venv/bin/activate
uv run dimos --rerun-host 0.0.0.0 run unitree-g1-nav-simple
# should print out something like:
# ============================================================
# Rerun gRPC server running (no viewer opened)
#
# Connect a viewer:
#   dimos-viewer --connect rerun+http://0.0.0.0:9877/proxy --ws-url ws://0.0.0.0:3030/ws
#   dimos-viewer --connect rerun+http://192.168.123.164:9877/proxy --ws-url ws://192.168.123.164:3030/ws  # eth0
#   dimos-viewer --connect rerun+http://100.88.236.73:9877/proxy --ws-url ws://100.88.236.73:3030/ws  # tailscale0
#   dimos-viewer --connect rerun+http://10.0.0.197:9877/proxy --ws-url ws://10.0.0.197:3030/ws  # wlan0
#   dimos-viewer --connect rerun+http://172.17.0.1:9877/proxy --ws-url ws://172.17.0.1:3030/ws  # docker0
#
#   hostname: ubuntu
# ============================================================

On your laptop:

# install uv
curl -LsSf https://astral.sh/uv/install.sh | sh
uv venv --python "3.12"
# use uv to get the dimos viewer
uvx dimos-viewer --version

# run the connect command. NOTE: the address will be different for you
uvx dimos-viewer --connect rerun+http://100.88.236.73:9877/proxy --ws-url ws://100.88.236.73:3030/ws

The viewer should open up. It'll run in faster-than-real speed until its caught up with reality, then should show what's happening in real time.

Troubleshooting¶

libgomp.so.1: cannot allocate memory in static TLS block¶

RoboPlan 0.6.0's aarch64 wheel bundles a renamed private libgomp, while Pinocchio loads the system copy. On affected systems, start the blueprint with both libraries preloaded:

ROBOPLAN_GOMP="$(find "$PWD/.venv/lib/python3.12/site-packages/roboplan.libs" \
  -maxdepth 1 -name 'libgomp-*.so*' -print -quit)"
test -n "$ROBOPLAN_GOMP" || {
  echo "RoboPlan's bundled libgomp was not found"
  exit 1
}

LD_PRELOAD="$ROBOPLAN_GOMP:/lib/aarch64-linux-gnu/libgomp.so.1" \
  uv run --no-sync dimos run unitree-g1-teleop --network-interface eth0

Preloading only the system library is insufficient. If startup still fails, confirm that ROBOPLAN_GOMP resolves to a file and appears first in LD_PRELOAD.

Activation or ready-pose recovery¶

Use the individual stages to identify whether the arming ramp, output enable, or planned ready motion failed:

uv run dimos hardware g1 arm
uv run dimos hardware g1 enable
uv run dimos hardware g1 ready

ready requires completed arming, enabled output, and disengaged Quest arm tracking. Run uv run dimos hardware g1 disable before restarting the sequence.

A mapping module tries to build with Nix¶

Update this branch. The G1 teleop blueprint no longer includes Point-LIO, voxel mapping, cost mapping, route planning, or the navigation web view. Seeing one of those modules means the checkout predates the upper-body-only composition.

dimos hardware g1 status cannot connect¶

The teleop blueprint must still be running, and both terminals must use the same dimOS transport configuration. Check the primary process with uv run dimos status and uv run dimos log -f.

Ready-pose planning fails¶

Do not bypass the planner. Confirm that the robot is stationary, both arm and waist joint states are arriving, no object starts in collision with the upper body, and status lists g1_upper_body/left_arm and g1_upper_body/right_arm.

Keyboard Controls Not Working¶

This usually means port 3030 wasn't forwarded. The 3030:localhost:3030 in the ssh command is what forwards the port. If you use VS Code with the SSH plugin, ports will be forwarded automatically. However sometimes the auto-forward will map 3030 to 3031 - thus breaking the connect command. Clear whatever is on port 3030 (on the G1 sid and the Laptop) then try again.

Viewer Crashing¶

If the viewer keeps crashing for you, there are two options for now: 1. On the G1 (ssh connection) change _MAX_HZ (inside dimos/robot/unitree/g1/blueprints/primitive/unitree_g1_vis.py) to a lower number, like 20 or 15 2. Get more RAM

External Resources¶

• Unitree Developer Docs
• Sport Mode Services
• Unitree SDK2 Python