Unitree G1 Current State¶

Last verified: 2026-09-02. This is the operator-facing snapshot for the lab G1. Recheck it on the robot before relying on it; powered hardware state can change between sessions.

Do not actuate the robot yet

The last passive state check found missing telemetry on five left-arm joints. Keep the robot in its support frame and do not start a motor-command publisher until the left-arm power and communication path has been inspected with power removed, then verified through a read-only probe.

Last Verified Robot State¶

Check	Result
Motion mode	`ai`
Locomotion FSM	`0` (zero torque)
External arm command publisher	None detected
Arm command gains/torques	`kp=0`, `kd=0`, `tau=0`
Custom lab services	Disabled and inactive
Custom ROS, Isaac, or container workload	None detected
Jetson GPU workload	Idle apart from normal system use

Right-arm telemetry and the first two left shoulder joints looked normal. Left arm joint indices 17-21 instead reported motorstate=0x80000000 and did not provide normal position, temperature, or torque telemetry. This points to a hardware power, connector, or communication problem rather than a software controller holding the arm in damping mode.

The three lab-created services are intentionally stopped:

g1-quest-webxr-probe.service
g1-teleimager.service
g1-quest-camera-preview.service

They were disabled with systemctl disable --now and verified inactive. Do not reenable them merely to test connectivity; start only the one needed for the current task and stop it afterward.

Network and Access¶

Component	Address	Purpose
Field router `eph107`	`192.168.8.1`	School uplink and lab management LAN
Robot router WG827	`192.168.8.190` upstream, `192.168.123.1` robot LAN	Routes the private robot LAN
G1 Jetson	`192.168.123.164`	SDK2, cameras, and future teleoperation host
Locomotion board	`192.168.123.161`	Unitree low-level DDS services; SSH unavailable
Livox Mid-360	`192.168.123.20`	Lidar
Ubuntu operator host	`192.168.8.241`	Home Assistant and lab support services

The Jetson is reached through the robot router. Manraj's local SSH route is:

ssh -J root@192.168.8.190 manraj@192.168.123.164

Credentials and private key details are not stored in this repository. They are in the local robot infrastructure secrets file supplied separately.

Robot Power¶

The iDevices outlet controlled by Home Assistant is the main robot power switch, not a convenience outlet.

Item	Value
Home Assistant host	`http://192.168.8.241:8123/`
Power entity	`switch.switch_00101614`

Before powering off, stop any motor-control process and let the robot reach a stable supported state. After powering on, use passive checks before launching a controller.

Safe Bring-Up Order¶

Put the G1 on the support frame and clear the workspace.
With robot power off, inspect and reseat the left-arm power and communication connectors using the Unitree service procedure.
Power on and connect to the Jetson through 192.168.8.190.
Confirm no custom controller is running.
Run the subscribe-only state probe from /home/unitree/lab_teleop.
Require normal telemetry from every arm joint and both Dex3 state streams.
Test simulation and network-loss handling before authorizing arms-only motion.
Keep the R3 remote and a power-stop operator ready for every hardware test.

The stock xr_teleoperate real-robot launcher is not passive while it waits for input: it enters control mode, creates publishers, and starts the arm command loop. Treat launching it as the beginning of actuation.

Current Development Paths¶

Meta Quest 3 Teleoperation: working in Isaac Lab simulation; real-robot control remains gated.
GEAR-SONIC: released whole-body policy and local MuJoCo/Vicon experiments; no physical deployment has been approved.
Wheelchair Push: Isaac Lab RL experiments and the articulated wheelchair scene.
Vicon LAN: official Nexus capture path and camera network notes.

Superseded Findings¶

The March 2026 notes that described all DDS topics as silent and the robot as unactivatable are historical diagnostics, not the current state. Later sessions confirmed working DDS state reads and motion-service RPCs. The present blocker is the left-arm telemetry fault and the need for a controlled hardware preflight.