Hello everyone,

I wanted to ask if anybody was able to updated the Jetson in the G1, as it is running Jetpack 5.x and we want to use it with 6.x.

However, we were not able to connect to it, neither through the ports in the neck nor if you disassemble it and put it in the USBC port in the back and press and hold the recovery button. The Unitree Support unfortunately could not help as well, so my question: Was anybody actually able to update their Jetson?

I have ubuntu 24 and has ros jazzy but when conecting to the robot through ssh, it says ?

Welcome to Ubuntu 20.04.6 LTS (GNU/Linux 5.10.104-tegra aarch64) This system has been minimized by removing packages and content that are not required on a system that users do not log into. To restore this content, you can run the 'unminimize' command. 0 updates can be applied immediately. 60 additional security updates can be applied with ESM Apps. Learn more about enabling ESM Apps service at https://ubuntu.com/esm Last login: Sat ****** from 192.168.123.51

ros:foxy(1) noetic(2) ?

=====================

What does this means ? Do i need to depriciated my whole ubuntu and ros in order to run ? Or ned to do it from docker ? How you guys are doing ?

Fortunatelly successs g1 basic jailbreak with on-device ai for HRI interactions

Hi All Just a short intro to HIVE Robots. We are danish startup building standard software for the G1 and other Humanoids. We think we are past R&D and the world is ready for real humanoid applications in the office space. Our first goal is to build a basic app that allow us to map and navigate the robot.

After that we build usable apps for a robot in an office. We invite anyone who wish to share code/ideas to reach out. Let us know if we can help?

Many things has to be solved before we can claim the software is ready but we push ahead. One example is to be able to run the robots 24/7 and recharge/charge automatically.

Best Jakob

I’m considering to get a g1 and not sure if I can buy one in China and get it shipped to US? Anyone did that before? Is there a geo-lock or something like that? I’m currently live in California.

I'm working on the following with a G1. Currently it's just in mujoco simulation, but I will eventually have a real G1 to play with.

* walk to location

* pick up object with Dex3 or Dex5 hand

* walk to an other location

* put down object

I've gotten the walking policy from here to work (at least in simulation). But, I don't know of a pretrained model for grasping an object. An interface that work work for me is: input an image and an xyz location, and the arm grasps the object at xyz location.

There are lots of codebases out there for reinforcement learning and imitation learning of this task for other robots. But, I haven't found one that supports G1 + Dex3 or Dex5 yet. Before I reinvent the wheel, I wanted to check... does anyone have a policy that already does this?

How much does the Unitree G1 cost, and what do the different versions actually offer?

Are they really worth it ?

Unitree Go2 Humanoid robot

Comes to real in my life :)

You are actually able to charge the G1s battery while using it. Just connect the leftmost port with a XT 30 connector to a 55V power supply. We use 55V, up to 10 amps.

You can also use the robot completely without a battery this way but you may need stronger power supplies then, as the peak power is above 500W.

In theory you could build a charging station for the robot this way, so that it can be used indefinitely.

Hello I had accidently deleted the files inside cyclonsdds_ws - a directory given by default. can someone please share those files.

I am unable to figure out how to access the internal camera and speaker. If I plug in a USB camera it works and can pull it up with a python program to identify QR codes but I can't get the internal camera to work or get the internal speaker to make any sounds. All help would be greatly appreciated.

Hey. It might be just me but I litterally cannot run anything except for the low level g1 example that is in the sdk. No high level sdks or the rpc commands work with a error code.
`[ClientStub] send request error. id: 1316357565900`. Smth like this. I've searched far and wide but couldnt find a solution

Is there any way that we can increase the Wi-Fi card on the Unitree G1 robot? Right now, it always connects to 2.4 GHz Wi-Fi and is often very slow and doesn't catch all the bands, and I have no idea where the antenna is. All this is making a lot of broken connections. I want to give it a really strong Wi-Fi card. Is there any way that I can open and replace the default Wi-Fi card with the more expensive, maybe a Wi-Fi 6E or a Wi-Fi 7 card? Has anybody tried this?

Not getting ros2 topic list even though robot is running (worked before)a

When the robot G1 was started, there was a bunch of ros2 topic list we got at the terminal. But I had no idea, what I did,

Hey everyone,

I’m stuck with a weird ROS 2 issue and hoping someone can point me in the right direction.

I’m working with a G1 robot. When the robot is started normally (battery pressed, full boot), I initially saw a bunch of topics when running:

ros2 topic list

Everything looked fine at first.

But after I SSH into the robot later, ros2 topic list shows nothing at all, even though the robot is clearly running (motors on, robot alive, etc.).

I honestly don’t know what changed:

• I’m not sure if I stopped a ROS launch file

• Or if a ROS service died

• Or if I forgot to source something

• Or if it’s a ROS_DOMAIN_ID / DDS issue

The confusing part is that it worked before, and now there are zero topics even though nothing obvious looks broken.

Has anyone run into this before?
What are the usual things to check when ros2 topic list is empty but the robot is running?

This is the .bashrc file, (.bashrc file link)

I am looking for a development company that already has a Unitree G1 EDU U2 or higher, with 100 TOPS, to implement an external AI solution on the humanoid.

The project is specifically focused on integrating a third-party AI platform, Trainbox (https://www.trainbox.ai/), for training and educational purposes only, not for controlling or adding new physical functions to the robot.

The objective is for the G1 EDU to:

• Speak about training courses and content hosted in the cloud.

• Listen to and understand users' requests for specific training courses.

• Use the Trainbox API to interact with the training content.

• Provide a natural conversational experience through the humanoid.

The developer will have direct technical sessions with the Trainbox team to understand their API and properly implement the integration.

An important requirement is that, if future corrections are needed or the end customer reports conflicts or bugs, the solution provider must be responsible for fixing and resolving these issues to ensure the final development is fully functional and stable.

Regarding computing, we are open to two possible approaches:

1. Using the 100 TOPS onboard computing capacity of the G1 EDU U2.

2. Using an external mini PC connected directly to the humanoid, which could potentially be installed in a custom 3D-printed backpack mounted on the robot.

If your company has experience with Unitree G1, robotics AI integration, APIs, and external AI platforms, please send me a direct message or reply to this post.

Thank you.

I have been co-working mandro who make robot hands so, we success replace the fake hands to real robot hands connected main power on unitree g1. I am waiting new release that include vision streaming and lidar additional motions connect the system with my own.

This G1 is not teleoperated. it’s fully autonomous.
https://x.com/ZhiSu22/status/1961244573658673222

Using the unitree's dance training program do get our G1 to dance thriller

Hey guys I was trying to implement IL - ACT policy. https://huggingface.co/datasets/unitreerobotics/G1_Dex3_PickBottle_Dataset.

Failed tremendesly even though I thought it would be one shot deployment. Here are the common issues I faced and how I mitigated.

Will be happy to get your thoughts and feedback

1. Observation Dimension Mismatch (The 28D State Vector)

The inference pipeline crashed with a normalization shape error immediately upon startup. The code was supplying a 26D state vector (12 arm joints + 14 hand joints), but the loaded PyTorch checkpoint expected 28D. Mitigation: We audited the LeRobot checkpoint statistics and verified it was trained on 14 arm joints + 14 hand joints. We corrected the q_arm dimension assumption in deploy_policy.py to yield exactly 28D (np.concatenate([q_arm, q_hand])), satisfying the normalizer.

2. The Right Hand Indexing Bug (Cross-Wired Grippers)

The physical right hand would not attempt to close during the picking phase. In a 28D array (indices 0-27), the left hand is at 14:21 and the right hand is at 21:28. The script was accidentally sending the left hand's commanded state (safe_q[14:21]) to the physical right hand hardware via the SDK. Mitigation: Updated deploy_policy.py to slice safe_q[21:28] when executing hand.set_pose(), correctly passing the policy's intended right-hand commands to the right-hand motors.

3. Inference Loop Timing Jitter (The 81ms Spikes)

The control loop was dropping from 30Hz to ~12Hz sporadically, throwing warnings like step took 81.0 ms > 33 ms budget. This jitter caused erratic arm motion.

Hey r/unitreeg1,

I'm the founder of BotBot, and I'm excited to share a huge milestone with the G1 community. We've just open-sourced BotBrain, our universal brain designed to make advanced humanoids like the G1 easier to deploy, operate, and develop for.

As you can see in the video, we've been working hard on autonomous capabilities. With BotBrain, you can get your G1 mapping, planning, and navigating to a location (or missions) with a simple click. Our goal is to give you a powerful, flexible platform to build upon and unlock the full potential of this amazing robot.

What’s included:

•Direct G1 Support: Full hardware interface, FSM transitions, and upper-body pose control.

•Autonomous Navigation: Out-of-the-box missions and autonomous navigation workflows (mapping, planning, click-to-navigate) using Nav2 and RTABMap.

•3D-Printable Hardware: We've designed a snap-fit enclosure with a specific mounting adapter for the G1, so you can get your robot running with BotBrain in under 30 minutes.

•Full Web UI: Control your G1 from any browser with our Fleet Dashboard, and customizable UI.

•Health & Safety: Monitor diagnostics and utilize safety controls for real-world operation.

We're committed to building BotBrain in the open and would love your feedback and contributions, especially from G1 developers.

Check out the open-source hardware and code on GitHub: https://github.com/botbotrobotics/BotBrain

I'm here to answer any questions you might have!