Unitree G1

Overview

The Unitree G1 EDU includes an NVIDIA Jetson development computer known as PC2. Install Wendy Agent on PC2 to deploy apps, stream logs, inspect hardware, and connect to the G1's DDS and unitree_sdk2 interfaces.

The Wendy CLI runs on your development machine. Wendy Agent runs on PC2.

What You Need

• A Unitree G1 EDU with the onboard development computer
• The Wendy CLI on your development machine
• An Ethernet cable and, if needed, a USB-to-Ethernet adapter
• Internet access from PC2
• Administrator access on your development machine and sudo access on PC2

PC2 uses this factory network configuration:

Address:  192.168.123.164
Username: unitree
Password: 123

Change the factory password before connecting PC2 to Wi-Fi or another shared network.

Installation Steps

networksetup -listallhardwareports
networksetup -listnetworkserviceorder

sudo networksetup -setmanual "<robot-link-service>" \
  192.168.123.99 255.255.255.0 ""

ip -br link

sudo ip addr replace 192.168.123.99/24 dev <robot-link-interface>
sudo ip link set <robot-link-interface> up

ping 192.168.123.164

ssh unitree@192.168.123.164

passwd

wget --spider https://install.wendy.dev/agent.sh

wget -O /tmp/wendy-agent.sh https://install.wendy.dev/agent.sh
less /tmp/wendy-agent.sh
bash /tmp/wendy-agent.sh

sudo systemctl is-active wendy-agent

wendy discover

cd <your-wendy-project>
wendy run --device <address-from-wendy-discover>

Wendy Cloud Enrollment

Cloud enrollment is optional. On your development machine, run wendy install and select Linux Desktop to generate an enrollment command for PC2. The enrollment token expires after about an hour.

Run the generated command on PC2. The G1 will then appear in Wendy Cloud when it is online.

Drive the G1 from your browser

The g1-rc template gives you a live camera view, a touch joystick, posture and arm controls, and a latching software E-stop.

Before you start:

• Put the G1 on its gantry and clear the area around it.

• Keep the Unitree remote with the operator. The physical E-stop is the primary stop.

• Make sure no other app is controlling the robot. Check the running apps with:

  wendy device apps list --device <address-from-wendy-discover>

  Stop any other motion app before continuing:

  wendy device apps stop <app-name> \
    --device <address-from-wendy-discover>

Create and deploy the remote control:

wendy init --app-id my-g1-rc --template g1-rc --language python
cd my-g1-rc
wendy run --device <address-from-wendy-discover>

The first build takes a few minutes. When it is ready, Wendy opens the remote control in your browser. If it does not open, use the G1 hostname or Wi-Fi address on port 3500, for example:

http://unitree-g1-nx.local:3500

Check the four status badges before touching the controls:

• motion: ok means the app can reach Unitree's motion service.
• cam: live means the page is receiving the front camera at /dev/video4.
• battery shows the percentage reported by the G1 battery controller.
• fsm shows the G1 locomotion state. The page does not send velocity commands until it has a recent 801 (walk-ready) readback.

Use the FSM badge to choose the next step:

For the first motion test, set Speed to 20% and press forward briefly. Let go to stop. Use the red STOP button if the robot does not stop as expected, and use the Unitree remote's physical E-stop if needed.

If the camera badge stays red, list the G1 camera devices:

wendy device camera list --device <address-from-wendy-discover>

The tested G1 uses /dev/video4 for the 640×480 color stream. If your G1 uses a different color node, create the project again with that camera number:

wendy init --app-id my-g1-rc --template g1-rc --language python \
  --var CAMERA_SOURCE=<number>

Work with the G1 from an app

Containers that communicate with Unitree DDS need host networking. A minimal service declaration looks like this:

{
  "$schema": "https://wendy.sh/schemas/wendy.json",
  "appId": "com.example.g1-app",
  "version": "0.1.0",
  "platform": "linux",
  "services": {
    "app": {
      "context": ".",
      "entitlements": [
        { "type": "network", "mode": "host" }
      ]
    }
  }
}

Host networking lets the container bind DDS to PC2's internal Ethernet interface. Identify it with ip -br address instead of assuming a fixed name. Host networking also removes container network isolation and grants access to the robot's internal network. Unitree DDS traffic on that network is generally unauthenticated and unencrypted, so grant this entitlement only to trusted apps.

The G1 uses the unitree_hg message package for low-level communication. The SDK topic names are rt/lowstate and rt/lowcmd. unitree_go is used by the Go2 and B2; using that package on a G1 can connect while receiving no useful messages.

If you're using ROS 2, see the Robotics integration guide. Wendy can introspect the live ROS 2 graph without a separate SSH session.

Troubleshooting

Temporary macOS Internet Sharing

Use these steps if PC2 cannot connect to Wi-Fi. They share your Mac's internet connection with PC2 over the Ethernet cable.

• wendy discover shows nothing on macOS: Check System Settings → Privacy & Security → Local Network and make sure the terminal has access. Verify the advertisement with dns-sd -B _wendyos._udp.
• Agent unreachable: Read the address and port from wendy discover, then test that exact pair with nc -zv <address> <advertised-port>. Do not assume every agent uses 50051 or 50052.
• Installer reports /dev/tty: No such device or address: Use the downloaded script with bash /tmp/wendy-agent.sh -y.
• The service is enabled but inactive after an upgrade: Run sudo systemctl start wendy-agent, inspect the journal, and record the agent package version with dpkg-query -W wendy-agent when contacting support.
• wendy run reports wendy.json not found: Change into a Wendy project or create one with wendy init before deploying.
• Installer download fails: Re-run the wget --spider internet check in Step 3. Inspect both PC2's default route and the developer machine's default route before changing either system.
• SSH warns that the remote host identification changed: This is expected after reflashing PC2, but it can also indicate the wrong device or a man-in-the-middle attack. Verify the new ED25519 fingerprint from a local PC2 terminal with ssh-keygen -lf /etc/ssh/ssh_host_ed25519_key.pub. Only after it matches, remove the single stale developer-machine entry with ssh-keygen -R 192.168.123.164 and reconnect. Do not bypass host-key checking.
• PC2 does not answer ping: Recheck the physical G1 port, Ethernet link, interface name, 192.168.123.99/24 address, and absence of a gateway on the developer machine's robot-link service.

Remove the agent

To remove Wendy from PC2 without removing the shared container runtime:

sudo apt-get purge -y wendy-agent
sudo rm -f /etc/apt/sources.list.d/wendy.list
sudo rm -f /usr/share/keyrings/wendy-archive-keyring.gpg
sudo apt-get update

This intentionally leaves /var/lib/wendy-agent and deployed app data in place. Review and remove those directories separately only when their data is no longer needed. Do not remove containerd automatically because Docker, Unitree software, or other workloads may use it.

Reflash PC2

Reflashing PC2 is a separate recovery procedure and is not required to install Wendy Agent. See Reflash Unitree G1 PC2 to replace the PC2 operating system and module firmware.

Next steps

Start with a non-motion app instead:

• Hello World in Python
• ROS 2 on Wendy devices
• App entitlements