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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
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.