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Unitree G1 Robot Setup and Control

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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. In this first PR 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

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:

# 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

ssh [email protected]
# 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

# 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:

# 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:

# 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 (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:

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: Running GR00T Locomotion

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

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.

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

Step 3: Run the Locomotion Policy

# 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.

Additional Resources

Last updated: December 2025

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