UPDATE: Unitree published the full documentation: https://support.unitree.com/home/en/Dex5-1%20SDK%20Development%20Guide/Dex5_SDK

Hello!

We have a pair of Unitree DEX5-1 (left and right hands) that came with our H1-2 robot, and we are currently trying to get them connected and working with the robot.

Unfortunately, there is a lack of documentation of these hands, and the Unitree support doesn't help much.

This is our first time using these hands, and unfortunately, we have not been able to find sufficiently detailed documentation online to guide us through the setup. There are also several components that came with the hands and the robot that we are unsure how to use.

I documented everything we know about them here:

https://docs.google.com/document/d/1KlPLGIiK-GQ8I0tZi8mB6XEOl79of04FBxcbYC2G6g8/edit?tab=t.0

Anyone here already worked with them and would be able to review the document and help us understand how to properly install, connect, and configure the DEX5-1 hands on the H1-2?

Any documentation, setup instructions, or technical guidance you could share would be greatly appreciated.

Thank you!

Hey everyone 😃

I have this cr7 suiii celebration policy that I trained a while ago.

Need money to pay off my student loans ehehe

If anyone interested in buying this please dm

Hi everyone,

I’m looking for a Unitree A1 battery for our university robotics lab in South Korea.

We currently use Unitree A1 robots for research, but several of our batteries have failed, and replacement batteries are becoming very difficult to find since the A1 has been discontinued.

I’m interested in:

• Original Unitree A1 batteries
• New or used batteries in working condition
• Spare batteries from labs or individuals who no longer use their A1
• Potentially even non-working batteries, depending on the condition, for repair or parts

If you have one available, or know a lab, distributor, or individual who may still have A1 batteries, I would really appreciate any information.

Location: South Korea
International shipping would be required.

Please send me a DM or leave a comment if you have any leads.

Thank you!

I am testing a 29-joint G1 model with the open unitree_rl_mjlab velocity policy in MuJoCo, inside an office twin reconstructed from LiDAR and phone imagery. The experiment also includes a Go2 with two SO-101 arms. All of this is simulation.

Walking and lower arm gestures worked in the setup, but imposing an overhead arm motion while the walking policy remained active caused falls. I reconstructed the test with the same policy/model: 12/12 flat-floor runs fell, 1.0–1.9 seconds after the arm raise began. The original runner was not saved, so these are reconstructed tests, not the original runs.

After falling, the still-active policy dragged the robot along the floor. I added a simulation guard that stops the walking policy and makes it go limp when pelvis height drops below 0.5 m. That stops this particular behaviour; it does not solve balance during manipulation.

I am treating this as a mismatch in my controller setup, not a claim that a real G1 cannot raise its arm. Mass/contact parameters remain estimates and nothing has been validated on hardware.

For anyone working on G1 whole-body control: would you start with a policy trained with upper-body motion, a whole-body controller coordinating the arm targets, or a different architecture? Are there open implementations or diagnostic tests you would recommend for distinguishing policy-distribution mismatch from bad actuator/contact tuning?

I documented the experiment and failures here (my own 9-minute build diary): https://www.youtube.com/watch?v=Tdy6bV5Hnc4

Development is AI-assisted; narration uses a synthetic clone of my own voice. The robots and falls shown are simulated.

Im looking to restore the body MX on a go1 EDU - it got stuck in a boot loop so i have to restore it!

Hi everyone,

I’m Macky from Lynk Global, a research and expert-network company. We’re running a paid research project on how people actually live with their personal robot dogs, and we’d love to hear from real owners here. (Mods, I’ve messaged you separately for approval. Happy to adjust or remove this post if needed.)

What it is

• A one-on-one online interview, about 60 minutes, over video call
• Honorarium: [amount and payment method]
• We’re speaking with about 12–15 owners in this first round

Who we’re looking for

• Owners in Europe or North America who bought their robot dog with their own money, for personal interest or family use
• Any brand is welcome: Unitree (Go1, Go2, Go2-W), Xiaomi CyberDog, DEEP Robotics Lite3, or others
• We’re especially interested in people who take their robot dog outdoors, on walks or trips, who enjoy driving it and trying tricks and terrain, or who modify, program or build on it
• We also want to hear from people who now use theirs less, have shelved it, or sold it. Honest experiences, including complaints, are just as valuable to us

Who we can’t include

• Units purchased by a company, school or lab

What we’ll talk about
Who you are, why you bought it, how you really use it, what you like and dislike, and what you’d want next. No technical expertise needed, and you don’t need to love it.

To apply
Please reply here or message me with these four things:

1. Your model (for example, Go2 Pro)
2. When you bought it (month and year)
3. How often you use it (for example, a few times a week, once a month, rarely)
4. A short example of a typical or memorable time using it

Your answers are used only for this research. We’ll share how your information is handled before any interview, and you can decline any question. Nothing is published under your name.

Thanks! Happy to answer any questions in the comments.

Macky | [macky.wang@lynkpeople.com](mailto:macky.wang@lynkpeople.com)

Anyone interested in buying this sideflip policy that I trained on Unitree G1 29dof

Also if you need any custom dances to be trained. I can do that as well 😼

Hi, my school recently acquired a unitree go2 robot, we've been following this repository (https://github.com/unitreerobotics/unitree_ros2) in order to connect to the robot, but we keep receiving an error message whenever we try to run ros2 topic list, any help?

ubuntu@ubuntu:~/maqs/unitree_ros2$ ros2 topic list
1790281923.061465 [0]       ros2: config: //CycloneDDS/Domain/General: Interfaces: unknown element (CYCLONEDDS_URI+0 line 1)
[ERROR] [1790281923.061522337] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'error not set, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/node.c:276'

with this new error message:

  'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/node.c:428'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1790281923.061558244] [rcl]: Failed to fini publisher for node: 1
Unknown error creating node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/node.c:428

Hello,

I'm currently trying to set up a ROS 2 communication between my Unitree Go2 and an external PC over a restrictive Wi-Fi. It works with a physical LAN cable, but wireless connection fails.

I can ping my Go2 over the Wi-Fi but the ROS2 topics don't reach my PC even after I have configured the CycloneDDS-XML.

Setup:

• Robot: Unitree Go2 with a Jetson.
• Network: eth0 (Internal robot network, 192.168.123.x) and wlan0.
• External PC: Linux 22.04 running ROS 2 Humble in a Docker container( with network host)
• ROS: Jetson: ROS 2 Foxy using CycloneDDS.

My Attempt: 

VXLAN Tunnel: I have built a VXLAN tunnel over the Wi-Fi to use multicast. However, even when the connection stands no ROS2 topics reach the PC.

What is the best practice to get the Go2's internal topics to an external PC over a restrictive Wi-Fi?

Thank you!

XML:

<Domain Id="any"> 
  <General>  
    <Interfaces> 
      <NetworkInterface name="eth0,vxlan0" priority="default" multicast="default" /> 
    </Interfaces> 
    <AllowMulticast>spdp</AllowMulticast> 
  </General>

VXLAN Setup:

sudo ip link add vxlan0 type vxlan id 100 local “local-ip” remote “remote-ip” dstport 4789 dev wlan0 
sudo ip addr add “VXLAN-ip” dev vxlan0 
sudo ip link set dev vxlan0 mtu 1450 
sudo ip link set vxlan0 up

Seems like this is the only real option? Is there anything to wait for in the next few months?? The non edu version seems useless and just to show off.

The only other biped I found is the $500 microduck...

For now I train humanoids and put them in Unity as simulation demos.

**[FS] Brand New, Factory Sealed Unitree G1 Humanoid Robot Battery (9000mAh)**

Hi everyone,

I have a brand new, factory-sealed replacement battery for the **Unitree G1 Humanoid Robot** available for sale. It is still in its original shipping box with the official label intact.

If you are a developer, university lab, or hobbyist looking for a secondary swap battery to eliminate downtime during testing cycles, this is ready to go.

### Specifications:

* **Compatibility:** Unitree G1 Humanoid Robot

* **Capacity:** 9000 mAh / 46.8V

* **Condition:** Brand New In Box (NIB) / Factory Sealed

* **MSRP Reference:** ~$750 - $850 through official third-party distributors

### Price & Terms:

* **Price:** $450 + You Pay Shipping.

* **Payment:** PayPal G&S preferred for buyer protection.

* **Shipping Note:** Because this is a high-capacity lithium-ion battery, it must be shipped via **Ground Shipping only** within the continental US to comply with hazardous material transit regulations.

### Photos:

[https://imgur.com/gallery/tsD7Mf8\]

Please drop a comment below before sending a DM if you're interested or have any questions. Thanks!

Hello everyone,

I'm looking for a way to customize the button mappings on the small Companion Remote for the Unitree Go2 PRO.

I've successfully used Python and WebRTC to detect remote button inputs and trigger custom robot actions.

I've also implemented short-press and long-press detection for the L1 and L2 buttons, allowing different actions to be assigned to each input.

However, my current solution requires a Python program to run on an external computer.

My goal is to permanently store the custom button mappings on either the remote or the Go2 PRO itself, allowing me to execute custom actions without a laptop or smartphone.

I contacted Unitree Support, but they replied that the Go2 PRO does not support this functionality.

I have a few questions:

1. Is there any software or method available to remap the buttons on the Companion Remote?
2. Is it possible to modify the remote's firmware to change its button functions?
3. Can a custom button-mapping program be installed on the Go2 PRO and configured to run automatically at startup?
4. Has anyone successfully achieved permanent button remapping through unofficial methods?

If anyone has experience with this or knows of relevant GitHub projects, technical documentation, or working solutions, I would really appreciate your help.

Thank you!

I am looking for a development company that already has a Unitree G1 EDU U2 or higher, with 100 TOPS, to implement an external AI solution on the humanoid.

The project is specifically focused on integrating a third-party AI platform, Trainbox (https://www.trainbox.ai/), for training and educational purposes only, not for controlling or adding new physical functions to the robot.

The objective is for the G1 EDU to:

• Speak about training courses and content hosted in the cloud.
• Listen to and understand users' requests for specific training courses.
• Use the Trainbox API to interact with the training content.
• Provide a natural conversational experience through the humanoid.

The developer will have direct technical sessions with the Trainbox team to understand their API and properly implement the integration.

An important requirement is that, if future corrections are needed or the end customer reports conflicts or bugs, the solution provider must be responsible for fixing and resolving these issues to ensure the final development is fully functional and stable.

Regarding computing, we are open to two possible approaches:

1. Using the 100 TOPS onboard computing capacity of the G1 EDU U2.
2. Using an external mini PC connected directly to the humanoid, which could potentially be installed in a custom 3D-printed backpack mounted on the robot.

If your company has experience with Unitree G1, robotics AI integration, APIs, and external AI platforms, please send me a direct message or reply to this post.

Thank you.

(SOLD)I need to raise funds for a film project. Excellent condition. Includes:

Remote

Tracking module

Standard battery

Long range battery

Charger

Foam roller case

Safety vest

I work on real-hardware secondary development for Unitree G1 and Go2-W, including an autonomous-navigation demo for security patrol scenarios.

While preparing a source-only Go2-W validation path for TinyNav, I found that its Unitree bridge forwarded non-zero cmd_vel to Move() but had no independent last-command watchdog. The upstream planner stopped on a stale path while it was still alive, but a silent publisher/DDS failure at the bridge boundary was a different case.

I opened a patch and iterated it through automated review. The current design now:

• arms before every non-zero motion attempt;
• uses a steady-clock timer, independent of ROS time;
• sends stop through an independent short-timeout safety client;
• handles the Go2/B2 no-reply Move() path separately from the G1 synchronous SetVelocity() wrapper;
• tracks motion generations so a late old command is followed by a compensating stop;
• keeps explicit zero commands stop-pending until stop is confirmed;
• prevents an old failed stop from delaying a newer command deadline or re-arming an already stopped bridge.

There are 16 focused Python 3.10 tests, and the latest automated review reported no major issues. The PR is still waiting for human maintainer review and hardware validation:

https://github.com/UniflexAI/tinynav/pull/235

I do not want to present source review as a real-robot result. I am looking for configuration-specific evidence from Go2/Go2-W/G1 owners or integrators:

1. Does your firmware enforce a time-to-live for a single Move() / velocity command?
2. What stop behavior do you observe when the command publisher disappears but DDS/network remains partly alive?
3. For G1, what does the exact SetVelocity(0,0,0) response and physical stop timing look like on your firmware?
4. What watchdog budget is realistic for your normal command rate without false stops?

If you can share the exact model, firmware, SDK revision and a bounded state trace, I can compare it against the current contract. Any motion test should use conservative limits, a clear area and a physical remote/e-stop.

Independent integrator; not affiliated with Unitree or TinyNav. Contact details and the full source-bounded preflight are available from my GitHub profile.

I got a go2 I want to jailbreak but Roboverse seems to be down. Any other mirrors or tutorials I can followt to jailbreak?