epilectrik
/
unitree-g1
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
4 Commits
1 Branch
0 Tags
327 KiB
 
 
Tree: ddde0f3f45
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'ddde0f3f45'
${ noResults }
unitree-g1/context/deployment-operations.md

14 KiB
Raw Blame History

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] [] [] [Field transport case specifications Multi-robot coordination capabilities Firmware update procedure (OTA details) Exact firmware version on our robot (V1.0.2 vs V1.0.4+) — test L2+B vs L1+A to determine]

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 (short press, then hold 2+ seconds)
  5. Wait for system boot (~1 minute for locomotion + development computers)
  6. Robot enters Zero Torque state (limp) — NOT standing

R3 Controller: Startup Sequence (Power-On → Regular Mode) [T1]

The robot enforces a mandatory state machine. You CANNOT skip steps — each mode transition must happen in order. Button combos differ by firmware version.

State machine: Zero Torque (boot) → Damping → Locked Standing → Regular Mode

Firmware V1.0.4+ (Newer — L2-based combos)

Step Button Combo Result
1 (robot boots) Zero Torque — all joints limp
2 Hold L2 + press B Damping — joints resist movement passively
3 Hold L2 + press D-pad UP Locked Standing — robot stands up. Hold its shoulder for support!
4 R2 + A Regular Mode — locomotion active, ready for teleop

Firmware V1.0.2 (Older — L1-based combos)

Step Button Combo Result
2 Hold L1 + press A Damping
3 Hold L1 + press D-pad UP Locked Standing
4 R1 + X Regular Mode

How to tell which firmware: Try L2+B first. If it works (joints become stiff), you're on V1.0.4+. If nothing happens, try L1+A (V1.0.2).

Full Posture Mode Table — Firmware V1.0.4+ [T1]

Mode Button Combo Notes
Zero Torque Hold L2 + Y All joints limp — robot will collapse if standing
Damping Hold L2 + B Passive resistance, safe descent
Locked Standing Hold L2 + D-pad UP Robot stands up autonomously
Seated Hold L2 + D-pad LEFT
Lying/Standing toggle Hold L2 + X
Squat Hold L2 + A
Debug Mode Hold L2 + click R2 For low-level SDK control (robot must be suspended!)

Full Posture Mode Table — Firmware V1.0.2 [T1]

Mode Button Combo Notes
Zero Torque Hold L1 + B All joints limp
Damping Hold L1 + A Passive resistance
Locked Standing Hold L1 + D-pad UP Robot stands up
Seated Hold L1 + D-pad LEFT
Lying/Standing toggle Hold L1 + X
Squat Hold L1 + D-pad DOWN
Debug Mode Hold L2 + R2 Same across firmware versions

Controls in Regular Mode [T1]

Function Control
Walk forward/backward Left joystick up/down
Turn left/right Right joystick left/right
Stand/Walk toggle START
Step in place Double-click START
Low speed mode Double-click L2
High speed mode Double-click L1
Emergency stop (damping) L2+B (V1.0.4) or L1+A (V1.0.2)

Common Mistake: Haptic Rejection Pulses

If you press R1+X or R2+A and get haptic pulses, the robot is rejecting the command because you haven't gone through the required intermediate states. Go back to step 2 (Damping) and work forward.

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 (Hold L2+B on V1.0.4, or L1+A on V1.0.2)
  3. Press Hold L2 + click R2 on the wireless remote
  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/

9. GR00T-WBC Deployment on Real G1 (Verified 2026-02-15) [T1]

Architecture

  • GB10 (10.0.0.68) runs GR00T-WBC, sends DDS commands to robot via 192.168.123.100
  • Robot Jetson (192.168.123.164) runs web control panel (server.py:8080) and audio driver — NO stock locomotion controller
  • Locomotion MCU (192.168.123.161) receives rt/lowcmd, publishes rt/lowstate — no SSH access
  • SSH to Jetson: sshpass -p '123' ssh unitree@192.168.123.164
  • SSH to GB10: ssh mitchaiet@10.0.0.68 (password: Strat3*gb10)

Confirmed Hardware Parameters (This Robot)

  • mode_machine = 5 (g1_29dof_rev_1_0) — confirmed via 63 DDS samples
  • No ai_sport service running — Jetson only runs server.py and audio driver
  • When policy deactivates, last PD gains remain active (motors hold position, do NOT actively balance)

Launch Procedure

  1. Start Xvfb: Xvfb :99 -screen 0 1024x768x24 & (GLFW needs a display)
  2. Launch script /tmp/launch_groot.sh in tmux: 
    cd ~/GR00T-WholeBodyControl && source .venv/bin/activate
export LD_LIBRARY_PATH=/opt/ros/jazzy/lib:$LD_LIBRARY_PATH
export DISPLAY=:99
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
  <NetworkInterface address="192.168.123.100"/></Interfaces></General></Domain></CycloneDDS>'
python3 -u gr00t_wbc/control/main/teleop/run_g1_control_loop.py --no-with-hands --interface real
  3. Activate policy: ] key in tmux
  4. Deactivate policy: o key in tmux
  5. Keyboard: 1/2 height, 5/6 pitch, w/s/a/d locomotion, 9/0 IMU offset ±1°

Known Issues & Fixes Applied

Issue Root Cause Fix
GLFW crash on headless GB10 simulator_factory.py eagerly imports mujoco Made BaseSimulator import lazy + Xvfb :99
DDS selects loopback No CYCLONEDDS_URI set Set explicit URI with address=192.168.123.100
Negative KD bug configs.py line: MOTOR_KD[14] -= 10 → KD = -5 Commented out the line
ONNX actions exceed [-1,1] Normal RSL-RL behavior — do NOT clip No clipping needed (NVIDIA reference has none)
Backward lean bias IMU mounting offset — physical IMU in pelvis is pitched ~6° from sim assumption Apply quaternion pitch rotation before gravity computation (see IMU Offset section)
Action clipping wrong Added np.clip(action,-1,1) based on Isaac Lab issue — caused policy saturation Removed clipping — NVIDIA reference code does not clip, policy needs full range
mode_machine hardcoded GR00T-WBC hardcodes mode_machine=5, should read from robot Applied PR #11: dynamic detection from rt/lowstate

IMU Pitch Offset Calibration [T1 — Verified on this robot]

The real G1's pelvis IMU has a physical mounting offset vs what simulation assumes. GR00T-WBC reads raw IMU data via DDS (bypassing the stock controller's calibration), so the policy's reference frame for "upright" is wrong. This causes persistent backward lean that cannot be fixed by PD gain tuning or pitch commands (the balance loop fights back).

Fix: Rotate the IMU quaternion by a pitch offset before computing gravity orientation in g1_gear_wbc_policy.py:

# In compute_observation(), before get_gravity_orientation(quat):
half = self.imu_pitch_offset / 2.0
pitch_quat = np.array([np.cos(half), 0.0, np.sin(half), 0.0])  # w,x,y,z
quat = quat_multiply(pitch_quat, quat)
  • Current calibrated value: -6.0° (np.deg2rad(-6.0)) — negative = forward correction
  • Keys 9/0 adjust by ±1° live without relaunching
  • This is NOT a hack — it's an IMU calibration parameter that GR00T-WBC is missing
  • Multiple GitHub users (Issues #21, #22, #23) report the same backward lean — likely the same root cause

PD Gain Tuning History

The ONNX policy was trained in sim with gains: kps: [150,150,150,200,40,40, ...]

Best results achieved with Unitree teleop gains + IMU offset:

Source Hip pitch Hip roll Hip yaw Knee Ankle pitch Ankle roll Waist
GR00T-WBC sim (trained) 150 150 150 200 40 40 250
Unitree SDK example 60 60 60 100 40 40 60/40/40
Unitree xr_teleoperate 300 300 300 300 80 80 300
Current best (teleop + IMU offset) 300 300 300 300 80 80 300

Key Relationships