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id	title	status	source_sections	related_topics	key_equations	key_terms	images	examples	open_questions
deployment-operations	Deployment & Field Operations	established	reference/sources/official-quick-start.md, reference/sources/official-user-manual.md, reference/sources/community-robonomics-experience.md	[safety-limits power-system networking-comms]	[]	[ota_update development_computer locomotion_computer]	[]	[]	[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

Unpack robot and charger from shipping container
Install battery (quick-release smart battery connector)
Verify battery charge level
Power on the robot
Wait for system boot (locomotion + development computers)
Robot should enter default standing mode

Network Setup

Connect to the robot's WiFi network from your development machine
Configure your machine's IP to 192.168.123.x (avoid .161, .164, .20)
Verify connectivity by pinging 192.168.123.164 (dev computer)
Install CycloneDDS 0.10.2 and unitree_sdk2 on your dev machine
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]

Suspend the robot on a stand or safety harness (it WILL fall without support)
Put the robot into damping state using the remote
Press L2 + R2 on the wireless remote simultaneously
The stock locomotion controller is now disabled
You have full control via rt/lowcmd for all joints
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

Power on and wait for boot completion
Verify robot state via rt/lowstate
Command standing mode via high-level API
Execute planned tasks (locomotion, manipulation, etc.)
Return to standing mode
Command sit/lie down
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)

6.8 KiB Raw Blame History