# First Two Weeks with Unitree G1 Humanoid Robot (Robonomics)
**Source:** https://robonomics.network/blog/first-two-weeks-with-unitree-humanoid-robot/
**Fetched:** 2026-02-13
**Type:** Community Guide

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## Initial Achievements

The Robonomics lab successfully connected to the G1 dev unit and established remote access through SSH via Zerotier and Yggdrasil. The team studied the Linux-based onboard system and performed standard DevOps operations, ultimately gaining control capabilities for basic movements like walking, sitting, and standing.

## Python SDK Experience

The engineers worked with Python 3.10 in a virtual environment, discovering the SDK requires specific configuration. They noted that "CycloneDDS was pre-installed, it was rebuilt manually without conflicts." A critical finding: the team identified and fixed a bug by adding `self.Start()` to the Move() function in g1_loco_client.py to enable robot movement.

Key environmental setup requirement: users must set `export CYCLONEDDS_HOME='/home/unitree/cyclonedds/install'` in their bashrc file.

## ROS 2 Integration

The team built unitree_ros2 packages with CycloneDDS support and created custom ROS nodes. While controller state reception worked successfully, motion state examples showed empty topics, requiring additional investigation.

## Identified Challenges

Major obstacles include understanding the SDK's debug mode functionality, limited advanced movement examples beyond basic actions, and determining optimal technology choice between pure Python or ROS 2 frameworks. The team also plans to investigate cable-based power supply options and reinforcement learning applications for movement control.