# G1 Development Guide (Weston Robot)
**Source:** https://docs.westonrobot.com/tutorial/unitree/g1_dev_guide/
**Fetched:** 2026-02-13
**Type:** Community Guide

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## Hardware Overview

The G1 EDU is a humanoid robot featuring **29 joints** organized into three groups: legs (6 joints each), waist (3 joints), and arms (7 joints each). The knee joint is the most powerful, delivering up to 120 Nm of torque.

Key hardware components include:
- **Robotic hands** (Dex3-1, Inspire FTP, or Inspire DFX models)
- **3D LIDAR** (Livox Mid-360) for mapping and obstacle detection
- **RGB-D Camera** (RealSense D435i) for visual perception
- **Built-in IMU, microphone array, and speaker**

### Special Joint Considerations

The waist can optionally be locked to 1-DOF control, and the ankle joint offers two modes: PR Mode (pitch/roll control) and AB Mode (direct motor control).

## Electrical Architecture

The system uses hierarchical connectivity:
- **Locomotion computer**: Handles motor drivers and low-level control (user inaccessible)
- **Development computer**: Jetson Orin NX module for user applications

The development computer offers multiple interfaces including Ethernet ports, USB Type-C connections, and power outputs (58V, 24V, 12V).

## Network Setup

Devices operate on **192.168.123.1/24 subnet** with no DHCP server:
- Development Computer: 192.168.123.164 (unitree/123)
- Locomotion Computer: 192.168.123.161
- Livox LIDAR: 192.168.123.20

Internet access requires either a USB wireless adapter or Ethernet connection through a properly configured router.

## Software Architecture

The software stack includes:
- **unitree_sdk2**: C++ library for direct robot control
- **unitree_ros2**: ROS2 interface for compatibility
- Both support high-level (mobility) and low-level (joint) control

Peripherals like robotic hands require separate drivers and must run on computers directly connected to those devices.

## Debug Mode

Activate full control by pressing **L2 + R2** on the remote when the robot is suspended and in damping state. This disables Unitree's locomotion controller.

## First Steps

You can run control examples on either the development computer or an external computer connected via Ethernet. The provided `g1_ankle_swing_example` demonstrates low-level joint control without conflicting with standard locomotion.