G1 Interface

G1 Quick Start

Power on the robot.
Connect LAN cable to the Ethernet port (the top-most available port) located on the back side of the neck.

Static Network Connection

For first-time setup, you need to connect via LAN cable to configure the robot’s network.

On your PC (Ubuntu):

Navigate to Settings → Network.
Click on the “+” icon to create a new connection.
In IPv4 Settings, set the connection method to Manual.
Enter the following details:
- Address IP: 192.168.123.51
- Netmask: 24
Save and restart your network.

After a successful connection, check the host PC’s local IP:

ifconfig

Ping the robot to verify connectivity:

ping 192.168.123.164

Access the robot via SSH:

ssh -X unitree@192.168.123.164

Default password:

Network Table

IP Address	Device	Username	Password
192.168.123.161	G1 MCU	x	x
192.168.123.164	G1 Auxiliary PC 2	unitree	123
192.168.123.164:9000	G1 Webserver MBS	x	mybotshop
192.168.123.120	Mid360 Lidar	x	x

Note

Do not set your PC IP as any of the G1 IP addresses listed below.

Enable Internet LAN

This enables LAN via the ethernet cable. Ensure the cable is connected to a router with internet access.

sudo ip link set eth1 down && sudo ip link set eth1 up
sudo dhclient eth1
sudo date -s "$(wget --method=HEAD -qSO- --max-redirect=0 google.com 2>&1 | sed -n 's/^ *Date: *//p')"
ping google.com

Enable Internet WiFi (Recommended)

You can attach a hub and WiFi via a hub. A link to a cost-effective hub and WiFi stick is provided in Enhancements.

sudo ip link set eth0 down && sudo ip link set eth0 up
sudo dhclient eth0

Teleop

This requires installation of the ROS2 modules on G1. If not installed, please follow the G1 Auxiliary PC Installation guide.

Run Teleop for G1:

ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/g1_unit_001/cmd_vel

Visualization

Launch G1 Viz:

ros2 launch g1_viz view_robot.launch.py

G1 ROS2 Modules

Note

Please ensure that the arms are straight down when you power on the robot. If the orientation is different, it will affect the ROS2 control operation.

The ROS2 modules start drivers for operating G1 in high-level mode for legs and arms.

Important

During initialization, the arms will move such that the forearms will face forward.

Launch G1 ROS2 Driver

The driver includes the following modules:

Domain Bridge
Joint States
Robot Description
Arm Control
Leg Control (High-level)
Inertial Measurement Unit Publisher
Sensor Fusion
Twist Mux
Logitech F710 Control
D435i Depth Camera Driver
Livox Mid360 Lidar Driver

These modules can also be viewed, activated, or deactivated from the Webserver.

ros2 launch g1_platform highlevel_ros.launch.py

Launch G1 Rviz

ros2 launch g1_viz view_robot.launch.py

Tele-Operation

To teleoperate the G1 robot:

ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/g1_unit_001/hardware/cmd_vel

Core Launch Files

These launch files can also be managed from the webserver. Ensure the Webserver is running. Follow the installation procedure first.

ros2 launch g1_platform highlevel_ros.launch.py
ros2 launch g1_platform domain_bridge.launch.py
ros2 launch g1_platform state_publisher.launch.py
ros2 launch g1_webserver webserver.launch.py
ros2 launch g1_control twistmux.launch.py
ros2 launch g1_lidar livox_mid360.launch.py
ros2 launch g1_platform audio.launch.py
ros2 launch g1_platform led.launch.py
ros2 launch g1_platform videostream.launch.py

Arms 7Dof Core Launch Files

ros2 launch g1_description g1_29_description.launch.py
ros2 launch g1_platform arm_7dof.launch.py

Arms 5Dof Core Launch Files

ros2 launch g1_description g1_23_description.launch.py
ros2 launch g1_platform arm_5dof.launch.py

SDK Examples

Build and install the SDK:

cd /opt/mybotshop/04Aug2025_unitree_sdk2/build/
cmake .. && make && sudo make install

Run examples:

cd /opt/mybotshop/04Aug2025_unitree_sdk2/build/bin
./g1_loco_client --network_interface=eth0 --shake_hand
./g1_audio_client_example eth0

G1 Modes Selection

Posture & State Commands

The table below lists commands for controlling the robot’s posture and state:

Command	Description
damp	Set all motors to damping mode.
start	Start locomotion control.
squat	Transition to squat posture.
sit	Sit down.
stand_up	Stand up from sitting/squatting.
zero_torque	Disable torque on all motors.
stop_move	Stop all motion immediately.
high_stand	Stand at high position.
low_stand	Stand at low position.
balance_stand	Stand with balance mode active.
shake_hand	Perform handshake sequence (auto-start and stop).
wave_hand	Perform wave motion.
wave_hand_with_turn	Wave hand and turn simultaneously.

Setter Commands (Change Robot State)

Command	Parameters
set_fsm_id=<id>	Integer FSM ID to switch to.
set_balance_mode=<0/1>	Enable (1) or disable (0) balance mode.
set_swing_height=<value>	Set swing height in meters.
set_stand_height=<value>	Set stand height in meters.
set_velocity=”vx vy ω [duration]”	Set velocity (m/s, m/s, rad/s, [duration in s]).
move=”vx vy ω”	Command motion without duration.
set_task_id=<id>	Set active task ID.
set_speed_mode=<mode>	Change locomotion speed mode.

Getter Commands (Query Current Robot State)

Command	Returns
get_fsm_id	Current finite state machine ID.
get_fsm_mode	Current FSM mode.
get_balance_mode	Current balance mode (0/1).
get_swing_height	Current swing foot height.
get_stand_height	Current standing height.
get_phase	Current gait phase vector.

Toggle Commands

Command	Parameters	Description
continous_gait=<true/false>	bool	Enable or disable continuous gait mode.
switch_move_mode=<true/false>	bool	Switch between movement mode and standing mode.

G1 Examples

Start the robot

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware_modes g1_interface/srv/G1Modes \
'{"request_data": "start"}'

Shake hand

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware_modes g1_interface/srv/G1Modes \
'{"request_data": "shake_hand"}'

Wave hand

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware_modes g1_interface/srv/G1Modes \
'{"request_data": "wave_hand_with_turn"}'

Set swing height

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware_modes g1_interface/srv/G1Modes \
'{"request_data": "set_swing_height=0.12"}'

Move forward

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware_modes g1_interface/srv/G1Modes \
'{"request_data": "set_velocity=0.3 0.0 0.0 2.0"}'

Query current FSM mode

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware_modes g1_interface/srv/G1Modes \
'{"request_data": "get_fsm_mode"}'

Enable continuous gait

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware_modes g1_interface/srv/G1Modes \
'{"request_data": "continous_gait=true"}'

G1 LED Selection

Set color

ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'color=green'}"
ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'color=red'}"
ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'color=white'}"
ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'color=blue'}"

Set color with hex and brightness

ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'color=#00a0a0;brightness=60'}"

Set color with RGB

ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'color=rgb(128,32,200)'}"

Query LED state

ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'get_brightness'}"
ros2 service call /g1_unit_001/hardware/led g1_interface/srv/G1Modes "{request_data: 'get_color'}"

G1 Audio Selection

Set volume

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware/audio g1_interface/srv/G1Modes "{request_data: 'volume=80'}"

Speak English

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware/audio g1_interface/srv/G1Modes "{request_data: 'speak=Hello from MY BOT SHOP'}"

Volume + Text

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware/audio g1_interface/srv/G1Modes "{request_data: 'volume=100;speak= Hello from my bot shop. My name is Danny'}"

Get current volume

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware/audio g1_interface/srv/G1Modes "{request_data: 'get_volume'}"

Self Intro

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware/audio g1_interface/srv/G1Modes "{request_data: 'volume=100;speak= Hello from my bot shop. I am Danny, a compact humanoid robot for research and education. My height is 1.32 meters, and my weight is 35 kg. I walk up to 2 meters per second, climb stairs, and keep balance. Hehehe climbing stairs not really. My base model has 23 degrees of freedom where as my educational + version has 43 degrees of freedom. I have 3D liDAR specifically Livox Mid360 and depth camera Intel RealSense D435i. Battery lasts about 2 hours +'}"

Note

More info on these commands is available in the Unitree documentation.

G1 Arm ROS2 Control

Start the arms (Mandatory)

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware/control/arm_dof7/start std_srvs/srv/Trigger {}

Stop the arms (Mandatory)

ROS_DOMAIN_ID=10 ros2 service call /g1_unit_001/hardware/control/arm_dof7/stop std_srvs/srv/Trigger {}

Move dual arms

Will wave on spot — clear the area around the G1.

ROS_DOMAIN_ID=10 ros2 action send_goal /g1_unit_001/dual_arm/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [
      \"left_shoulder_pitch\",\"left_shoulder_roll\",\"left_shoulder_yaw\",
      \"left_elbow\",\"left_wrist_roll\",\"left_wrist_pitch\",\"left_wrist_yaw\",
      \"right_shoulder_pitch\",\"right_shoulder_roll\",\"right_shoulder_yaw\",
      \"right_elbow\",\"right_wrist_roll\",\"right_wrist_pitch\",\"right_wrist_yaw\"
    ],
    points: [
      { positions: [0.0, 0.2, 0.0, 1.57, 0.0, 0.0, 0.0,   0.0, -0.2, 0.0, 1.57, 0.0, 0.0, 0.0],
        time_from_start: {sec: 2, nanosec: 0} },
      { positions: [0.0, 1.57, 1.57, -1.57, 0.0, 0.0, 0.0,   0.0, -1.57, -1.57, -1.57, 0.0, 0.0, 0.0],
        time_from_start: {sec: 4} },
      { positions: [0.0, 1.57, 1.57, -1.0, 0.0, 0.0, 0.0,   0.0, -1.57, -1.57, -1.0, 0.0, 0.0, 0.0],
        time_from_start: {sec: 6} },
      { positions: [0.0, 1.57, 1.57, -1.57, 0.0, 0.0, 0.0,   0.0, -1.57, -1.57, -1.57, 0.0, 0.0, 0.0],
        time_from_start: {sec: 8} },
      { positions: [0.0, 1.57, 1.57, -1.0, 0.0, 0.0, 0.0,   0.0, -1.57, -1.57, -1.0, 0.0, 0.0, 0.0],
        time_from_start: {sec: 10} },
      { positions: [0.0, 1.57, 1.57, -1.57, 0.0, 0.0, 0.0,   0.0, -1.57, -1.57, -1.57, 0.0, 0.0, 0.0],
        time_from_start: {sec: 12} },
      { positions: [0.0, 1.57, 1.57, -1.0, 0.0, 0.0, 0.0,   0.0, -1.57, -1.57, -1.0, 0.0, 0.0, 0.0],
        time_from_start: {sec: 14} },
      { positions: [0.0, 0.2, 0.0, 1.57, 0.0, 0.0, 0.0,   0.0, -0.2, 0.0, 1.57, 0.0, 0.0, 0.0],
        time_from_start: {sec: 16, nanosec: 0} }
    ]
  }
}"

Move left arm

ROS_DOMAIN_ID=10 ros2 action send_goal /g1_unit_001/left_arm/follow_joint_trajectory \
  control_msgs/action/FollowJointTrajectory \
  "{trajectory: {
      joint_names: [
        left_shoulder_pitch, left_shoulder_roll, left_shoulder_yaw,
        left_elbow, left_wrist_roll, left_wrist_pitch, left_wrist_yaw
      ],
      points: [
        {positions: [0.0, 0.2, 0.0, 1.57, 0.0, 0.0, 0.0],
         time_from_start: {sec: 2, nanosec: 0} }
      ]}}"

Move right arm

ROS_DOMAIN_ID=10 ros2 action send_goal /g1_unit_001/right_arm/follow_joint_trajectory \
  control_msgs/action/FollowJointTrajectory \
  "{trajectory: {
      joint_names: [
        right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw,
        right_elbow, right_wrist_roll, right_wrist_pitch, right_wrist_yaw
      ],
      points: [
        {positions: [0.0, -0.2, 0.0, 1.57, 0.0, 0.0, 0.0],
         time_from_start: {sec: 2, nanosec: 0}}
      ]}}"

G1 Depth Camera Realsense D435i

Test the native driver via:

ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true

G1 Simultaneous Localization and Mapping (SLAM)

Ensure g1_bringup is running, then launch:

ros2 launch g1_navigation slam.launch.py

Begin mapping using teleop at 2 m/s. Once mapping is complete, save the map:

ros2 run nav2_map_server map_saver_cli -f map_

Rebuild workspace:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

G1 Debugging

TF

ROS_DOMAIN_ID=10 ros2 run rqt_tf_tree rqt_tf_tree --force-discover --ros-args --remap tf:=/g1_unit_001/tf --ros-args --remap tf_static:=/g1_unit_001/tf_static

ROS_DOMAIN_ID=10 ros2 run tf2_tools view_frames.py --force-discover --ros-args --remap tf:=/g1_unit_001/tf --ros-args --remap tf_static:=/g1_unit_001/tf_static

Video Stream

Faster version

gst-launch-1.0 udpsrc address=230.1.1.1 port=1720 multicast-iface=eth0 ! \
    application/x-rtp, media=video, encoding-name=H264 ! \
    rtph264depay ! queue max-size-buffers=1 ! h264parse ! queue ! avdec_h264 ! \
    videoconvert ! autovideosink

G1 Enhancements

WiFi Stick

Recommended: TL-WN722N with a long-range antenna (budget-friendly) or any high-end WiFi stick with long-range for remote operation.

Connection Hub

Recommended: USB-C hub such as Ugreen USB-C Hub with HDMI port for testing, debugging, and increasing the number of available ports.

G1 Interface

G1 Quick Start

Static Network Connection

Network Table

Enable Internet LAN

Enable Internet WiFi (Recommended)

Teleop

Visualization

G1 ROS2 Modules

Launch G1 ROS2 Driver

Launch G1 Rviz

Tele-Operation

Core Launch Files

Arms 7Dof Core Launch Files

Arms 5Dof Core Launch Files

SDK Examples

G1 Modes Selection

Posture & State Commands

Setter Commands (Change Robot State)

Getter Commands (Query Current Robot State)

Toggle Commands

G1 Examples

Start the robot

Shake hand

Wave hand

Set swing height

Move forward

Query current FSM mode

Enable continuous gait

G1 LED Selection

Set color

Set color with hex and brightness

Set color with RGB

Query LED state

G1 Audio Selection

Set volume

Speak English

Volume + Text

Get current volume

Self Intro

Note

G1 Arm ROS2 Control

Start the arms (Mandatory)

Stop the arms (Mandatory)

Move dual arms

Move left arm

Move right arm

G1 Depth Camera Realsense D435i

G1 Simultaneous Localization and Mapping (SLAM)

G1 Odometric Navigation

G1 Map Navigation

G1 Debugging

G1 Enhancements