Unitree G1 Course - C++

This is an interactive manual for the Unitree G1 humanoid robot. It’s designed for engineers who have the G1 robot but don’t know where to start.

Course Summary

Learn everything you need to start any project with your G1 humanoid, from basic setup to advanced AI training. This is the best way to begin your journey with the G1 robot.

What you will learn

Basic development setup
How to use the Unitree SDK (C++ and Python)
How to access the G1 systems, sensors, motors, and premade modes
How to create your own programs
How to train your G1 with AI and Isaac Lab/Sim
How to do autonomous navigation in simulation and on the real robot

Course Overview

Introduction

Intro about the course

Network Configuration

Learn how to set up the network connection to be able to access the robot internal pc and execute programs.

Unitree SDK and ROS2 interface

Learn the basics for Unitree operations

Programming the Wireless Remote Controller

Learn how to program teh wireless controller

Simulations

Learn about the simulations available for G1 robot.

RL Environment Setup

RL training pipeline quick start

RL training in detail

Validating in detail

Testing trained policies in detail

BeyondMimic Motion Tracking Pipeline

Understanding ros2_control Architecture in BeyondMimic

G1 ROS Environment

G1 Sensor Configuration - LiDAR and Camera

Localization with Fast-LIO

CMD_VEL Driver for G1 Sport Mode

Nav2 Docker Setup for G1 Navigation

RealSense2 Camera Integration for G1 Perception

Computer Vision Bag Detection with G1 Perception

Teachers

Ricardo Tellez

Dreaming of a world where robots actually understand what they are doing. Developing the definitive tool that will make it happen.

Miguel Angel Rodriguez

Crashing engineering problems. Building solutions.

Rodrigo Gonzalez

Working with Real robots is my thing