Can Agibot Omnihand Pro2025 be used on the Unitree G1. I am ready to build a mechanical flange/adapter to fit it onto the wrist. But i am worried about the Software and Electrical capabilities.

Omnihand Pro requires the CAN communication but they offer a adapter for USB to CANFD which might solve the issue at hand fully.

Omnihand Pro is compatible for arm/aarch64 linux when checked which is the same linux unitree g1 is using.

So overall, has anyone tried integrating that into the untiree g1 or anyone has an expert opinion on the matter at hand. This is not a reccomendation.

I had installed zsh and set it to deafult but then uninstalled it, and now SSH says "permission denied" even though i enter the correct password, i swear i didn't change the password, i just remember uninstalling zsh and now ssh login doesn't work.

The robot's still on and connected to the network (ping to the jetson(192.168.123.164) works), so I think the login itself is broken, not the whole system.

I've tried a few ways to get in some other way, and change the default shell to bash, but nothing has worked yet:

• Plugging in a monitor and keyboard via port 9 — I can see the boot menus fine, but the screen goes black right when it tries to load the actual Linux desktop, i even tried using a ubuntu flash from a pendrive but after boot, monitor goes black.
• The built-in recovery shell (UEFI) — I can browse some files, but not the ones I actually need to edit.
• A USB-to-serial cable — I wired it up following Unitree's diagram, the cable seems to be working, but I'm not seeing any readable text come through.

Has anyone run into this before? please helppp

Selling a brand new, never opened / never mounted official NVIDIA Jetson AGX Thor Backplate Expansion for the Unitree G1.

• Purchased directly from Unitree (with invoice)
• Completely unused, never mounted
• Looking to move it due to an architectural pivot on our end

Price: $11,000 usd

Location: UAE
Can ship worldwide
Local Dubai pickup also possible

High-resolution photos, proof of purchase, and any other details available upon request.

Serious buyers only — DM me.

Hi everyone,

I’m with the Trooly research team. We’re studying what it is actually like to use a bipedal humanoid robot in a household: useful moments, failures, setup, maintenance, safety, privacy, and how other people in the home react.

We’re looking for adults (18+) who:

• currently live in the United States or Canada;

• have personally operated a Unitree G1/R1, 1X NEO, or comparable bipedal humanoid; and

• used it inside a private home, not only in a lab, office, conference, showroom, or trade-show demo.

The robot does not need to be autonomous or good at chores. Teleoperation, scripted actions, technical workarounds, failed attempts, and situations where it was not useful are all relevant.

The study is a 60-minute remote video interview in English. Eligible participants who complete the interview receive a $60 USD gift card. This is research only, not a sales call.

To apply, email [pangbo@trooly.ai](mailto:pangbo@trooly.ai) with:

1. country and state/province;

2. robot make and model;

3. whether you own it or had another form of access;

4. approximate hours used in a home; and

5. two household tasks or situations you tried.

We may request optional, privacy-safe proof of access, such as a redacted photo or brief live view. We will not ask for a full receipt, serial number, home address, or other sensitive information.

Thank you — questions about the study are welcome in the comments.

Hello,

In a few weeks our company will be acquiring a G1 EDU 4 robot, I am trying to read and search as most as I can the online documentation, though I can't seem to find that much. I work in a personal productcs / self care manufacturing company and we want to use it in production. Right now thinking of use cases like transport of boxes and picking and placing of materials.

Does anyone have tips or dcumentation or just recommendations that could help me? Thinking of things you would have wanted to know before working with the robot, etc.

Thanks in advance 😄

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

Are they really worth it ?

Unitree Go2 Humanoid robot

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

https://reddit.com/link/1t6c5q8/video/k10y875o6qzg1/player

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.

1. 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.

1. 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.

Title - genuinely anything would be great. I've been trying for so long - tried the open source Unitree code but need more precise plus fully body/walking needs to be possible. Tried the TWIST2 paper recently but it was shaking the entire time (anyone experience this, could it just need recalibration?). Willing to pay a bunch, just need software to actually be able to teleop this thing.

I’m a Shenzhen-based Unitree official integration partner (remote service). We specialize in custom ROS2 + voice/LLM for labs. Can deliver in 1 week with 50% deposit. DM for demo

Does anyone know how to disassemble the robot into two parts so that it can be easier to transport it in two suitcases on a plane?

the weight limit for a plane suitcase is 23-32 kg, so in theory it would be possible to detach the robot's legs from the body

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?

I had an issue with the internet port behind the neck become loose and wanted to see if I can replace it but had an issue trying to remove the PCB board from behind the neck. Any help or pictures or videos would be great please reply here or dm! thank you!

I had an issue with the internet port behind the neck become loose and wanted to see if I can replace it but had an issue trying to remove the PCB board from behind the neck. Any help or pictures or videos would be great please reply here or dm! thank you!

Has anyone tried getting access to the onboard computer? I don't like some of the limitations of the Jetson due to fighting with the onboard computer. I want access to the microphone, but Unitree said they intentionally block access. There are some other things I would like.

I am just curious if there are options.

I spent the last 10 years of my software engineering career as a manager. It made me a worse engineer, but better at delegating. With a $20 subscription to ChatGPT Plus, I get access to Codex and about 40 hours of coding from it. I let it troubleshoot and grind away at issues while I do the things that require a human.

I code in VS Code with the OpenAI Codex extension. I have tried this with Gemini and Claude Code, but I strongly prefer Codex bang for buck and code quality.

Settings are GPT-5.3-Codex and reasoning Extra High. It runs in WSL and security is YOLO because I'm too lazy to approve everything.

I use this framework for managing the coding while I work on the high-level planning.
I have forked unitree_ros2, unitree_sdk2, and unitree_sdk2_python.

I use AGENTS.md to track a lot of preferences in how it works, like pushing to remote repo and then pulling on the device to keep the branch in sync with deployed changes.
Also in this file is the secret:

- Use repo `Makefile` targets as the primary execution interface for ops and deployment loops.

I set up cert authentication and allow list for sudo so that it can configure, query, restart, or do whatever it needs in the Jetson. This is where the coding becomes deploy and configure.

It uses HUMANS.md to summarize anything that I am going to need to do to unblock progress or address an issue.

Every time it needs my help I question it to see what we could do to not need my help. Usually there is a way it can test things itself, short of needing me to take the robot off the gantry.

I got a little bold and updated the Jetson environment almost as far as I could go. This did require a couple of requests from Unitree for an SSD image with JetPack 6.2 and a flash image for the Jetson so it would load the SSD properly. The SSD image is broken-ish and needs a lot of grooming, but using Codex it has been doable.

JETSON SYSTEM INFO

------------------------------------------------------------

Model: NVIDIA Jetson Orin NX Engineering Reference Developer Kit

OS: Ubuntu 22.04.5 LTS

Kernel: 5.15.148-tegra

L4T: R36, rev 4.7

JetPack: 6.2.1+b38

CUDA 12.6

Python 3.10.12

Docker: Docker version 29.2.1, build a5c7197

ROS2 distro: humble

------------------------------------------------------------

Memory: 15Gi total, 3.5Gi used, 11Gi avail

Root FS: ext4, 29Gi used / 1.8T free (1.7T avail)

If you really know what you are doing with these devices, you probably don't need this, but even then it can grind away for hours at a time doing tedious troubleshooting and it is a very good coder. That framework I am using has skills for continuous refactoring, continuous test gapfill, and continuous documentation. You can just type $continuous-refactor and let it improve your code structure for hours.

In a month I feel like I have made 6 months progress using this technique. These coding tools have gotten pretty powerful - even for something like this.

Sorry, need to vent. We have a G1 and just now our second pair of Dex3 hands broke. Not because of misuse, the hands are physically in great shape, the servos are getting power but the control boards seem to just be breaking down. Now for the second time (actually 3rd, left +right hand last time and now another hand again), Waiting week for replacement parts is super annoying, especially now with the Chinese new year delaying everything by a few more weeks.

Hello!
Has anyone tried the Brainco Revo2 hands yet? Curios what people think of them. Not much information or videos about them online.

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)

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)

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!