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Feat/add unitree g1 robot (#2530)
* add unitree_g1_robot_class * finish locomotion loading code * precommit * separate groot locomotion logic * remove leftover locomotion variable, unify kp kd * format config * properly comment config, example locomotion and unitree_g1 class * ready to review * download policy from the hub in `examples/unitree_g1/gr00t_locomotion` * fix linter * make precommit happy, add ignore flags * linter pt3 * linter pt4 * [done] make precommit happy * fix linter 5 * add docs * push utils * feat(robots): add Unitree G1 humanoid support with ZMQ bridge (#2539) * feat(robots): add Unitree G1 humanoid support with ZMQ bridge - Use JSON + base64 serialization for secure communication instead of pickle - Add documentation section - Rename robot_server to run_g1_server - Add dependecies to pyproject.toml * nit in docs * remove globals use * cast robot data to int/float * ensure robot is connected before changing mode * temperature can be list, average in such case --------- Co-authored-by: Martino Russi <[email protected]> * style nit * remove transform_imu_data * remove scipy dependency * modify toml, add external unitree_sdk2py dep * return actions from send_action * cleaning * add instructions for local deployment * Update src/lerobot/robots/unitree_g1/unitree_g1.py Co-authored-by: Copilot <[email protected]> Signed-off-by: Martino Russi <[email protected]> * update config and readme * update docs * update docs * remove torch import * fix docs * remove ip from docs * add licence header --------- Signed-off-by: Martino Russi <[email protected]> Co-authored-by: Michel Aractingi <[email protected]> Co-authored-by: Copilot <[email protected]>
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‎docs/source/_toctree.yml‎

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title: Hope Jr
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- local: reachy2
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title: Reachy 2
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- local: unitree_g1
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title: Unitree G1
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title: "Robots"
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- sections:
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- local: phone_teleop

‎docs/source/unitree_g1.mdx‎

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# Unitree G1 Robot Setup and Control
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This guide covers the complete setup process for the Unitree G1 humanoid, from initial connection to running gr00t_wbc locomotion.
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## About the Unitree G1
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We offer support for both 29 and 23 DOF G1. In this first PR we introduce:
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- **`unitree g1` robot class, handling low level communication with the humanoid**
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- **ZMQ socket bridge** for remote communication over WiFi, allowing one to deploy policies remotely instead of over ethernet or directly on the Orin
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- **GR00T locomotion policy** for bipedal walking and balance
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---
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## Part 1: Connect to Robot over Ethernet
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### Step 1: Configure Your Computer's Ethernet Interface
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Set a static IP on the same subnet as the robot:
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```bash
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# Replace 'enp131s0' with your ethernet interface name (check with `ip a`)
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sudo ip addr flush dev enp131s0
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sudo ip addr add 192.168.123.200/24 dev enp131s0
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sudo ip link set enp131s0 up
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```
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**Note**: The robot's Ethernet IP is fixed at `192.168.123.164`. Your computer must use `192.168.123.x` where x ≠ 164.
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### Step 2: SSH into the Robot
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```bash
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ssh [email protected]
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# Password: 123
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```
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You should now be connected to the robot's onboard computer.
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---
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## Part 2: Enable WiFi on the Robot
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Once connected via Ethernet, follow these steps to enable WiFi:
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### Step 1: Enable WiFi Hardware
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```bash
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# Unblock WiFi radio
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sudo rfkill unblock wifi
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sudo rfkill unblock all
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# Bring up WiFi interface
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sudo ip link set wlan0 up
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# Enable NetworkManager control
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sudo nmcli radio wifi on
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sudo nmcli device set wlan0 managed yes
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sudo systemctl restart NetworkManager
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```
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### Step 2: Enable Internet Forwarding
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**On your laptop:**
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```bash
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# Enable IP forwarding
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sudo sysctl -w net.ipv4.ip_forward=1
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# Set up NAT (replace wlp132s0f0 with your WiFi interface)
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sudo iptables -t nat -A POSTROUTING -o wlp132s0f0 -s 192.168.123.0/24 -j MASQUERADE
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sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTABLISHED -j ACCEPT
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sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
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```
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**On the robot:**
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```bash
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# Add laptop as default gateway
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sudo ip route del default 2>/dev/null || true
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sudo ip route add default via 192.168.123.200 dev eth0
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echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
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# Test connection
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ping -c 3 8.8.8.8
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```
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### Step 3: Connect to WiFi Network
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```bash
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# List available networks
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nmcli device wifi list
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# Connect to your WiFi (example)
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sudo nmcli connection add type wifi ifname wlan0 con-name "YourNetwork" ssid "YourNetwork"
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sudo nmcli connection modify "YourNetwork" wifi-sec.key-mgmt wpa-psk
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sudo nmcli connection modify "YourNetwork" wifi-sec.psk "YourPassword"
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sudo nmcli connection modify "YourNetwork" connection.autoconnect yes
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sudo nmcli connection up "YourNetwork"
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# Check WiFi IP address
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ip a show wlan0
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```
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### Step 4: SSH Over WiFi
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Once connected to WiFi, note the robot's IP address and disconnect the Ethernet cable. You can now SSH over WiFi:
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```bash
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ssh unitree@<YOUR_ROBOT_IP>
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# Password: 123
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```
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Replace `<YOUR_ROBOT_IP>` with your robot's actual WiFi IP address (e.g., `172.18.129.215`).
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---
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## Part 3: Robot Server Setup
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### Step 1: Install LeRobot on the Orin
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SSH into the robot and install LeRobot:
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```bash
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ssh unitree@<YOUR_ROBOT_IP>
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conda create -y -n lerobot python=3.10
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conda activate lerobot
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git clone https://github.com/huggingface/lerobot.git
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cd lerobot
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pip install -e '.[unitree_g1]'
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git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
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cd unitree_sdk2_python && pip install -e .
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```
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**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.
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### Step 2: Run the Robot Server
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On the robot:
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```bash
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python src/lerobot/robots/unitree_g1/run_g1_server.py
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```
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**Important**: Keep this terminal running. The server must be active for remote control.
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---
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## Part 4: Running GR00T Locomotion
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With the robot server running, you can now control the robot from your laptop.
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### Step 1: Install LeRobot on your machine
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```bash
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conda create -y -n lerobot python=3.10
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conda activate lerobot
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git clone https://github.com/huggingface/lerobot.git
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cd lerobot
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pip install -e '.[unitree_g1]'
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git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
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cd unitree_sdk2_python && pip install -e .
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```
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### Step 2: Update Robot IP in Config
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Edit the config file to match your robot's WiFi IP:
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```python
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# In src/lerobot/robots/unitree_g1/config_unitree_g1.py
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robot_ip: str = "<YOUR_ROBOT_IP>" # Replace with your robot's WiFi IP.
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```
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**Note**: When running directly on the G1 (not remotely), set `robot_ip: str = "127.0.0.1"` instead.
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### Step 3: Run the Locomotion Policy
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```bash
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# Run GR00T locomotion controller
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python examples/unitree_g1/gr00t_locomotion.py --repo-id "nepyope/GR00T-WholeBodyControl_g1"
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```
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### Step 4: Control with Remote
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- **Left stick**: Forward/backward and left/right movement
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- **Right stick**: Rotation
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- **R1 button**: Raise waist height
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- **R2 button**: Lower waist height
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Press `Ctrl+C` to stop the policy.
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---
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## Additional Resources
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- [Unitree SDK Documentation](https://github.com/unitreerobotics/unitree_sdk2_python)
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- [GR00T Policy Repository](https://huggingface.co/nepyope/GR00T-WholeBodyControl_g1)
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- [LeRobot Documentation](https://github.com/huggingface/lerobot)
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- [Unitree_IL_Lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot)
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---
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_Last updated: December 2025_

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