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Hardware

Overview

Unitree G1 EDU humanoid robot with Jetson Orin NX development computer.

Battery and Charging

  • Battery: 13-string lithium, 46.8V rated, 54.6V charge limit, 9000mAh / 421.2Wh
  • Charger: 54V / 5A output, 100-240V AC input
  • Charging method: Remove battery from robot, connect charger directly to battery pack. No DC input on robot body.
  • Charge time: Approximately 1.5-2 hours
  • Indicator: LED flashes at 1Hz during charging, turns off when full
  • No tethered/wall power mode. Robot is battery-only during operation.

Internal Computers

Board IP Role
Locomotion Computer (RK3588) 192.168.123.161 (eth0) Rockchip RK3588 (8-core ARM, 8GB RAM, 32GB eMMC). Runs Unitree locomotion controller, WebRTC bridge, network manager, and all proprietary Unitree services. Has integrated WiFi 6 (wlan0 STA + wlan1 AP at 192.168.12.1, SSID "UnitreeG1") and Bluetooth 5.2 (for app pairing). Not open to user (no SSH).
Development Computer (Jetson Orin NX) 192.168.123.164 User development PC. Ubuntu 20.04, aarch64.
Livox Mid-360 Lidar 192.168.123.20 3D LIDAR for mapping and obstacle detection
ZBT WG827 Router 192.168.123.1 OpenWrt router added by Indro Robotics (velcroed to back). Provides WiFi (SSID: UnitreeG1-Router) and optional 4G/5G. SSH/LuCI: root / indr0.com

All boards are connected via an internal L2 switch inside the G1 on the 192.168.123.0/24 subnet. Neck ports 4/5 connect directly to this internal switch. The WG827 router is an add-on plugged into the same switch, not the core network bridge.

Jetson Orin NX Details

  • SSH: unitree@192.168.123.164 / password: 123
  • OS: Ubuntu 20.04.5 LTS, Linux 5.10.104-tegra, aarch64
  • Wi-Fi: Realtek wlan0 (disabled, radio off). Supports AP mode via hostapd only (NOT nmcli), but not needed since the locomotion computer has a built-in AP.
  • Bluetooth: Realtek hci0, named "ubuntu" (separate from the locomotion computer's Bluetooth)
  • Docker: Installed (sets iptables FORWARD policy to DROP)
  • hostapd: Installed manually (2:2.9-1ubuntu4.6, via scp). Disabled (not needed).
  • sshd fix: UseDNS no added to /etc/ssh/sshd_config (without this, SSH hangs for 60-90s due to reverse DNS lookup on a network with no DNS server)
  • HDMI: Port 9 (USB-C Alt Mode) did not output video even with adapter connected at boot. May need a specific adapter or Jetson display config.

ZBT WG827 Router (Shenzhen Zhibotong)

Model ZBT WG827, physically velcroed to the robot's back, plugged into the G1's internal switch. Added by Indro Robotics. Made by Shenzhen Zhibotong Electronics.

  • Chipset: MT7621DA (dual core, 880MHz)
  • WiFi: 2.4GHz 802.11bgn (MT7603E), 6 SMA antenna ports (2.4GHz)
  • Ports: 1 WAN + 4 LAN (all Gigabit)
  • Software: OpenWrt 21.02-SNAPSHOT (GoldenOrb), hostname InDro_Robotics
  • M.2 slot + SIM card slot (for optional 4G/5G module)
  • RAM: 128MB, Flash: 16MB

The WG827 is not required for basic ethernet connectivity. The G1 has an internal L2 switch connecting neck ports (4/5) directly to all internal computers. The WG827 is an add-on for WiFi, plugged into the same switch.

Credentials

Web UI (LuCI) at http://192.168.123.1 — Username: root, Password: indr0.com (zero, not letter O). SSH also open on port 22 with same credentials.

WiFi AP:

  • SSID: UnitreeG1-Router, Password: Temp1234, Channel 11 (2.4GHz), WPA2
  • AP (wlan0) is bridged to br-lan - clients join 192.168.123.0/24, same subnet as Jetson and locomotion computer

wwan2 STA interface

The router ships with a secondary STA client (wwan2) trying to connect to "Hotspot Manager Interface". This shares the same radio and prevents the AP from coming up (interface stays NO-CARRIER). It has been disabled. Do not re-enable it.

Electrical Interface (back of neck)

Port Connector Description
1 XT30UPB-F VBAT - Battery power output (58V/5A). Not a charging input.
2 XT30UPB-F 24V/5A power output
3 XT30UPB-F 12V/5A power output
4 RJ45 GbE - connects to internal L2 switch
5 RJ45 GbE - connects to internal L2 switch
6 Type-C USB 3.0 host, 5V/1.5A (plug USB devices INTO robot)
7 Type-C USB 3.0 host, 5V/1.5A (plug USB devices INTO robot)
8 Type-C USB 3.0 host, 5V/1.5A (plug USB devices INTO robot)
9 Type-C Alt Mode - USB 3.2 host + DP1.4 (HDMI out via adapter)
10 5577 I/O OUT - 12V/3A power output

Note

Ports 6-9 are USB host ports on the Jetson side. They are for plugging peripherals INTO the robot, not for connecting a laptop.

Documentation