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Real-World Deployment

If you encountered errors caused by our code when following steps below, please inform us in issues and we'll try fix it asap.

checkout Docker_README.md for quick & simpler installation with Docker.

0. Hardware Setup

Component Specification
Unitree G1 EDU 29-DoF Version
Apple Vision Pro
Router
Personal Computer Linux OS (Monitor Recommended)

Connection Setup:

  1. Connect the Unitree G1 and the server PC to the router via Ethernet.
  2. Connect the Apple Vision Pro to the same router via Wi-Fi.

1. Prepare Server Environment

Install ROS 2

Follow the official installation guide at ros.org for your Linux distribution.

Install Unitree ROS 2 SDK

Follow the instructions at:
github.com/unitreerobotics/unitree_ros2

Clone Repository & Install Dependencies

# Clone repository
git clone https://github.com/humanoid-clone/CLONE.git

# Install dependencies
cd CLONE
pip install -r requirements.txt

2. Configure Unitree G1

Install LiDAR Odometry on G1's PC2

Connect G1 to Internet:

ssh unitree@192.168.123.164
bash nomachine.sh

Connect via NoMachine on your PC and configure Wi-Fi. Select ROS1 (Noetic) if prompted.

Install LiDAR Odometry:

  1. Install LIVOX drivers (both driver and driver2) for ROS1 following:
    FAST_LIO
    Note: Skip FAST LIO installation if using odometry without point cloud maps.
  2. Install localization package:
    FAST_LIO_LOCALIZATION

Deploy Onboard Files

Copy contents of deploy/onboard to G1's PC2. Edit localization_server.sh's first line to:

cd <PATH_TO_YOUR_FAST_LIO_LOCALIZATION_FOLDER>

FAQ

If you encountered missing files such as localization_mid360.launch or mid360.yaml, check deploy/onboard/launch for onboard ROS launch files and deploy/onboard/misc for mid360.yaml.

3. Install VisionWrapper

This package integrates avp_stream (recommended) and VUER:

# In Server PC's any directory
git clone https://github.com/Yutang-Lin/VisionWrapper
cd VisionWrapper
pip install -e .

Teleoperate Unitree G1

Prerequisites

  • Verify Apple Vision Pro's IP address in deployment scripts
  • Start Unitree G1 in Debug Mode (Unitree Documentation)

Launch Services

  1. On G1 PC2: Start LiDAR odometry 
    cd <PATH_TO_ONBOARD_FILES>
bash localization_server.sh
  2. On Apple Vision Pro: (for avp_stream users) Launch Tracking Streamer
  3. On Server PC: Run command publisher for 1kHz relay. 
    python deploy/lowcmd_publisher.py
  4. On Server PC: Run deployment script 
    python deploy/g1_server.py
  5. On Apple Vision Pro: (for For VUER Users) Access control interface at
    https://<SERVER_IP>:8012?ws=wss://<SERVER_IP>:8012

Calibration & Operation

  1. Align human and humanoid positions by pressing R1/R2 (press multiple times for best results)
  2. Initiate policy execution by pressing L1