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G1 Development Guide (Weston Robot)
Source: https://docs.westonrobot.com/tutorial/unitree/g1_dev_guide/ Fetched: 2026-02-13 Type: Community Guide
Hardware Overview
The G1 EDU is a humanoid robot featuring 29 joints organized into three groups: legs (6 joints each), waist (3 joints), and arms (7 joints each). The knee joint is the most powerful, delivering up to 120 Nm of torque.
Key hardware components include:
- Robotic hands (Dex3-1, Inspire FTP, or Inspire DFX models)
- 3D LIDAR (Livox Mid-360) for mapping and obstacle detection
- RGB-D Camera (RealSense D435i) for visual perception
- Built-in IMU, microphone array, and speaker
Special Joint Considerations
The waist can optionally be locked to 1-DOF control, and the ankle joint offers two modes: PR Mode (pitch/roll control) and AB Mode (direct motor control).
Electrical Architecture
The system uses hierarchical connectivity:
- Locomotion computer: Handles motor drivers and low-level control (user inaccessible)
- Development computer: Jetson Orin NX module for user applications
The development computer offers multiple interfaces including Ethernet ports, USB Type-C connections, and power outputs (58V, 24V, 12V).
Network Setup
Devices operate on 192.168.123.1/24 subnet with no DHCP server:
- Development Computer: 192.168.123.164 (unitree/123)
- Locomotion Computer: 192.168.123.161
- Livox LIDAR: 192.168.123.20
Internet access requires either a USB wireless adapter or Ethernet connection through a properly configured router.
Software Architecture
The software stack includes:
- unitree_sdk2: C++ library for direct robot control
- unitree_ros2: ROS2 interface for compatibility
- Both support high-level (mobility) and low-level (joint) control
Peripherals like robotic hands require separate drivers and must run on computers directly connected to those devices.
Debug Mode
Activate full control by pressing L2 + R2 on the remote when the robot is suspended and in damping state. This disables Unitree's locomotion controller.
First Steps
You can run control examples on either the development computer or an external computer connected via Ethernet. The provided g1_ankle_swing_example demonstrates low-level joint control without conflicting with standard locomotion.