Unitree G1 Humanoid — Teleoperation, Imitation & RL Control Suite

platform G1 EDU, 29 DOF hands Inspire RH56 × 2 compute Jetson Orin NX middleware CycloneDDS

Five working control projects on a full-size 29-DOF bipedal humanoid — spanning every control plane of the robot: low-level 50 Hz joint streaming, high-level locomotion RPC, and serial-driven dexterous hands.

Phone Side · Hardware In Lab

PC Side · Locomotion & Joint Control

Unitree G1 EDU Platform Demonstration — Physical 29-DOF humanoid bipedal platform operating across low-level 50 Hz joint-space streaming, whole-body locomotion RPCs, and serial dexterous manipulation.

Trained a PPO policy for ~53M timesteps that solves 7-joint inverse kinematics in real time — no analytical IK solver — then deployed it sim-to-real over DDS.
Built a real-time hand teleoperation pipeline (~30 ms latency) mirroring a human hand from a webcam to a 6-DOF Inspire dexterous hand at 25–30 Hz.
Root-caused a firmware RPC failure (error 3102) to an SDK service-name mismatch introduced in ai_sport ≥ 8.2.0.0 — a two-line patch restored all locomotion control.
Authored robot behaviors by demonstration — recorder GUIs whose keyframed trajectories train continuous MLP policies for the arms.

01The Platform

robotUnitree G1 EDU — 1.3 m, ~35 kg bipedal humanoid
joints29 actuated (7 × 2 arms, 6 × 2 legs, 3 waist)
handsInspire RH56 5-finger dexterous hands, 6 DOF each, RS-485
computeJetson Orin NX onboard
sensorsLivox Mid-360 LiDAR · Intel RealSense D435 depth camera
middlewareCycloneDDS over wired Ethernet (192.168.123.x)

02The Seven Projects

Hand Mimic — Camera → Robot Hand

Webcam hand tracking mirrored live to the Inspire hand — MediaPipe landmarks, geometric retargeting, pinch detection, EMA smoothing.

MediaPipe · RS-485 · Python · ~30 ms latency

→ 02

Hand Recorder GUI — Keyframe Gesture Animator

Desktop GUI for authoring precise hand gestures — live sliders, recorded takes, combinable sequences, YAML preset playback.

Flet · 25 Hz streaming · YAML presets

→ 03

MuJoCo Arm Policy — RL Goal Reaching

PPO agent trained ~53M steps solves 7-joint IK in real time; sim arm mirrors to the physical robot over DDS on keypress.

PPO · Stable-Baselines3 · MuJoCo · rt/arm_sdk

→ 04

Arm Recorder GUI — 14-DOF Joint Animator

Dial, record, and replay full-arm trajectories — 50 Hz LowCmd streaming with PD gains; recordings train a continuous 3-axis arm policy.

LowCmd_ @ 50 Hz · kp/kd control · MLP policy

→ 05

WASDQE Walk — Locomotion Teleop

Keyboard-driven bipedal walking through the high-level velocity RPC — tap-to-inch pulses, safety clamps, and the error-3102 firmware fix.

LocoClient · 15 Hz · tap-to-inch · FSM safety

→ 06

Hardware Relay E-Stop — Dual Safety Cutoff

Wireless RF latching relay and head mushroom switch spliced via WAGO clips into G1 PC 1 for permanent compliant damping.

433 MHz RF · WAGO 221 · GH Port · Damped Mode

→ 07

Camera & Display Mounts — Siemens NX CAD

Custom skull camera bracket and chest interactive touchscreen mount designed in Siemens NX and FDM 3D printed for the G1.

Siemens NX · 3D Printing (PETG) · ARNIE UI · HRI

→

03Control Architecture

The control software interfaces directly with the Unitree G1 humanoid over CycloneDDS and RS-485, commanding 29 actuated joints across whole-body bipedal locomotion, bilateral 14-DOF arm manipulation, and dual 6-DOF dexterous hands.