---
id: deployment-operations
title: "Deployment & Field Operations"
status: established
source_sections: "reference/sources/official-quick-start.md, reference/sources/official-user-manual.md, reference/sources/community-robonomics-experience.md"
related_topics: [safety-limits, power-system, networking-comms]
key_equations: []
key_terms: [ota_update, development_computer, locomotion_computer]
images: []
examples: []
open_questions:
  - "Complete pre-flight checklist from official manual"
  - "Field transport case specifications"
  - "Multi-robot coordination capabilities"
  - "Firmware update procedure (OTA details)"
---

# Deployment & Field Operations

Real-world setup, operation procedures, and field deployment of the G1.

## 1. Initial Setup Procedure

Based on official quick start guide and community experience: [T0/T1]

### Unboxing & First Boot
1. Unpack robot and charger from shipping container
2. Install battery (quick-release smart battery connector)
3. Verify battery charge level
4. Power on the robot
5. Wait for system boot (locomotion + development computers)
6. Robot should enter default standing mode

### Network Setup
1. Connect to the robot's WiFi network from your development machine
2. Configure your machine's IP to 192.168.123.x (avoid .161, .164, .20)
3. Verify connectivity by pinging 192.168.123.164 (dev computer)
4. Install CycloneDDS 0.10.2 and unitree_sdk2 on your dev machine
5. Test: Subscribe to `rt/lowstate` to verify DDS data flow

### Software Environment
- Install unitree_sdk2 (C++) or unitree_sdk2_python
- CycloneDDS 0.10.2 (exact version required)
- For ROS2: Install unitree_ros2 package
- For simulation: Install unitree_mujoco

## 2. Pre-Operation Checklist

Recommended checks before each operation session: [T2 — Best practice from community]

- [ ] Battery charge level > 30%
- [ ] All joints move freely (no mechanical binding)
- [ ] WiFi/Ethernet connectivity confirmed
- [ ] DDS communication verified (rt/lowstate receiving data)
- [ ] Operating area clear (minimum 2m clearance around robot)
- [ ] Safety spotter present with wireless remote / e-stop access
- [ ] Recording system active (data logging enabled)
- [ ] Emergency procedures reviewed with all personnel present

## 3. Debug Mode (Low-Level Control Access)

To gain full low-level joint control (bypassing the stock locomotion controller): [T1 — Weston Robot guide]

1. **Suspend the robot** on a stand or safety harness (it WILL fall without support)
2. Put the robot into **damping state** using the remote
3. Press **L2 + R2** on the wireless remote simultaneously
4. The stock locomotion controller is now disabled
5. You have full control via `rt/lowcmd` for all joints
6. To exit debug mode: power cycle the robot

**WARNING:** In debug mode, the robot has ZERO balance. The legs will go limp. This is for development with the robot safely suspended — never activate debug mode while the robot is standing on the ground.

## 4. Operating Procedures

### Standard Workflow
1. Power on and wait for boot completion
2. Verify robot state via `rt/lowstate`
3. Command standing mode via high-level API
4. Execute planned tasks (locomotion, manipulation, etc.)
5. Return to standing mode
6. Command sit/lie down
7. Power off

### Remote Operation via WiFi
- Connect to robot WiFi (WiFi 6, 802.11ax)
- Use SDK from any machine on 192.168.123.0/24
- Monitor robot state continuously
- **Caution:** WiFi latency varies — not recommended for safety-critical real-time control [T2]

### Development on Jetson
- SSH into 192.168.123.164 (development computer)
- Develop and test code directly on the Jetson Orin NX
- Lower latency than WiFi for real-time control
- Recommended for production deployments [T1]

## 5. Troubleshooting

Common issues and resolutions from community experience: [T2 — Robonomics report + community]

| Issue                          | Likely Cause                           | Resolution                        |
|-------------------------------|----------------------------------------|-----------------------------------|
| No DDS data received           | CycloneDDS version mismatch            | Install exactly v0.10.2           |
| Robot won't stand              | Low battery or boot not complete       | Charge battery, wait for full boot |
| Jerky movements                | Control loop rate too low              | Ensure publishing at 500 Hz       |
| WiFi disconnects               | Range or interference                  | Use wired Ethernet connection     |
| SDK examples fail              | Network interface not specified         | Add interface param (e.g., enp2s0) |
| Motion state topic issues      | Known SDK quirk                        | Check Robonomics blog for details |
| Python SDK install fails       | CycloneDDS not compiled from source    | Build CycloneDDS separately, set CYCLONEDDS_HOME |

## 6. Maintenance

### Firmware Updates
- **Method:** OTA (Over-The-Air) update system [T0]
- **Current version:** v3.2+ (as of early 2025)
- **Notable updates:**
  - v1.4.5: Training Mode for custom motion capture via Unitree Explore App
  - v3.2+: Improved walking stability, faster gait transitions, preliminary LLM integration (EDU)

### Hardware Inspection
- Inspect joints for unusual noise or binding (regular interval TBD)
- Check cable routing through hollow motor shafts
- Verify encoder readings match expected ranges
- Inspect Dex3-1 hand fingers and tactile sensors (if equipped)
- Check battery connector and quick-release mechanism

## 7. Transport & Storage

- **Folded dimensions:** 0.69m height when folded for transport [T0]
- **Weight:** ~35 kg — requires two people or a wheeled cart for transport [T0]
- **Storage:** Remove battery for long-term storage. Store in dry, temperature-controlled environment. [T3 — Best practice]
- **Battery storage:** Store LiPo batteries at ~50% charge for long-term storage. Do not store fully charged or fully depleted. [T3 — Standard LiPo practice]

## 8. Useful Resources

| Resource                     | URL / Location                                      |
|-----------------------------|-----------------------------------------------------|
| Official developer guide     | support.unitree.com/home/en/G1_developer             |
| Quick start guide            | support.unitree.com/home/en/G1_developer/quick_start |
| Robonomics experience report | reference/sources/community-robonomics-experience.md |
| RoboStore startup guide      | robostore.com/blogs/news/unitree-g1-startup-guide    |
| Weston Robot dev guide       | docs.westonrobot.com/tutorial/unitree/g1_dev_guide/  |

## Key Relationships
- Governed by: [[safety-limits]] (operational constraints, pre-op checks)
- Constrained by: [[power-system]] (battery runtime limits deployment duration)
- Requires: [[networking-comms]] (WiFi/Ethernet for remote operation)
- Uses: [[sdk-programming]] (SDK for all robot interaction)