> ## Documentation Index
> Fetch the complete documentation index at: https://dimensional-cc-frontier.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# G1

# Unitree G1

## Requirements

* Unitree G1 EDU (need SDK/SSH access)
* Laptop/Desktop with Ubuntu 22.04/24.04 with CUDA GPU (recommended), or macOS (experimental)

## 1. Get SSH Access

### Get Ethernet Working

1. Plug an Ethernet cable from the robot into your Laptop
2. Open up your Laptop's graphical network manager, manually set the IP addr of your system to `192.168.123.100`
3. Run wired ssh command:

```bash theme={null}
ssh -L 3030:localhost:3030 unitree@192.168.123.164
# Password: 123
```

### Use Ethernet to get WiFi Working

After ssh-ing in, find additional IPs:

```bash theme={null}
hostname -I
```

The second address allows SSH after disconnecting Ethernet.

WiFi passwords (varies by unit): `888888888` or `00000000`

### Network Interface Names

Common interface names needed for SDK examples:

* `eth0` / `enp2s0` — Ethernet
* `wlan0` — WiFi

Check with: `ip addr show`

### Remote Network

Recommended to setup [tailscale](https://tailscale.com/tailscale-ssh) to avoid needing to setup rounter specific configuraions for wireless control.

## 2. Install DimOS

SSH into the robot, then:

```bash theme={null}
# pick the "developer" setup
bash <(curl -fsSL https://pub-4767fdd15e6a41b6b2ce2558d71ec8d9.r2.dev/install.sh)
```

#### Notes

DimOS handles DDS setup automatically. If you're using the Unitree SDK directly, set:

```bash theme={null}
export CYCLONEDDS_HOME="$HOME/cyclonedds/install"
```

## 3. Get the G1 in Sport Mode

**WARNING**: You *need* to have the G1 in a good physical position before running this.

Get the hand-held controller for the G1.

Note: this button combination may vary based on the model of the G1

1. If you have a gantry, hang the robot up where its feet are touching the floor, knees straight.
   * Press **L2 + B** (no movement, color change)
   * Press **L2 + Up** (should straighten out)
   * Press **R2 + A** (will attempt to self-balance)
2. If don't have a gantry, there is a make-shift way to get it working. You should get a second person to help.
   * Make the robot lie down flat on the ground
   * Press **L2 + B** (no movement, color change)
   * Press **L2 + Up** (should straighten out)
   * The robot will be super stiff now. Manually pick it up into a standing position and hold it there.
   * Press **R2 + A** (will attempt to self-balance)

## 4. Run the Blueprint

In the ssh terminal `ssh -L 3030:localhost:3030 unitree@192.168.123.164`

```sh skip theme={null}
source .venv/bin/activate
uv run dimos --rerun-host 0.0.0.0 run unitree-g1-nav-onboard
# should print out something like:
# ============================================================
# Rerun gRPC server running (no viewer opened)
#
# Connect a viewer:
#   dimos-viewer --connect rerun+http://0.0.0.0:9877/proxy --ws-url ws://0.0.0.0:3030/ws
#   dimos-viewer --connect rerun+http://192.168.123.164:9877/proxy --ws-url ws://192.168.123.164:3030/ws  # eth0
#   dimos-viewer --connect rerun+http://100.88.236.73:9877/proxy --ws-url ws://100.88.236.73:3030/ws  # tailscale0
#   dimos-viewer --connect rerun+http://10.0.0.197:9877/proxy --ws-url ws://10.0.0.197:3030/ws  # wlan0
#   dimos-viewer --connect rerun+http://172.17.0.1:9877/proxy --ws-url ws://172.17.0.1:3030/ws  # docker0
#
#   hostname: ubuntu
# ============================================================
```

On your laptop:

```sh skip theme={null}
# install uv
curl -LsSf https://astral.sh/uv/install.sh | sh
uv venv --python "3.12"
# use uv to get the dimos viewer
uvx dimos-viewer --version

# run the connect command. NOTE: the address will be different for you
uvx dimos-viewer --connect rerun+http://100.88.236.73:9877/proxy --ws-url ws://100.88.236.73:3030/ws
```

The viewer should open up. It'll run in faster-than-real speed until its caught up with reality, then should show what's happening in real time.

### Troubleshooting

#### Keyboard Controls Not Working

This usually means port `3030` wasn't forwarded. The `3030:localhost:3030` in the ssh command is what forwards the port. If you use VS Code with the SSH plugin, ports will be forwarded automatically. However sometimes the auto-forward will map 3030 to 3031 - thus breaking the connect command. Clear whatever is on port 3030 (on the G1 sid and the Laptop) then try again.

#### Viewer Crashing

If the viewer keeps crashing for you, there are two options for now:

1. On the G1 (ssh connection) change `vis_throttle=0.5` (inside `dimos/robot/unitree/g1/blueprints/navigation/unitree_g1_nav_onboard.py`) to a lower number, like 0.3 or 0.2
2. Get more RAM

## External Resources

* [Unitree Developer Docs](https://support.unitree.com/home/en/developer)
* [Sport Mode Services](https://support.unitree.com/home/en/developer/sports_services)
* [Unitree SDK2 Python](https://github.com/unitreerobotics/unitree_sdk2_python)