README_01_pre_setup_en.md

June 15, 2026 ยท View on GitHub

Dexterous Hand Installation

  1. Use a suitable wrist adapter to mount the BrainCo dexterous hand to the end of the Unitree G1 arm, then secure it with screws.
  2. Connect the dual RS-485 serial cables to the 485 ports on the left and right hands, and to the 485.0 and 485.1 signal ports on the Unitree G1 USB-to-485 converter board. Connect the power port of the USB-to-485 converter board to electrical interface 2 on the top of the G1, and connect the Type-C communication port to electrical interface 6. Plug the head camera into any Type-C port.
  3. Make sure all connections are secure to prevent loosening or disconnection while the robot is moving.

Securing the Head (Camera)

The G1 head is designed as a passive joint that can move forward and backward to help prevent structural damage if the robot falls. To keep the head camera in a fixed position, we designed a neck support bracket to prevent head position drift caused by vibration while walking.

Note: If there is a risk of falling and the camera is not needed, we recommend removing the support bracket to protect the head structure.

Robot Startup

  1. Power on the Unitree G1. You can refer to the Unitree Documentation Center | Operation Guide. When power is connected, the indicator light on the back of the dexterous hand turns on and the fingers automatically reset.
  2. After startup, wait until the Unitree G1 enters Zero Torque Mode (L2 + Y, purple light). Then use the remote controller to switch the robot through Damping Mode (L2 + B, orange light) -> Locked Standing Mode (L2 + UP, dark blue light) -> (Optional) Normal Motion Control Mode (R1 + X, light blue light). The low-level upper-limb controller does not conflict with the high-level walking and running controller.

Remote Connection

Refer to the Unitree Documentation Center | Quick Development.

  1. Connect the G1 and the computer with an Ethernet cable, and set the computer's Ethernet IP to the same subnet as the Unitree G1: 192.168.123.XXX.
  2. Access the G1 remotely via SSH (default password: 123):
ssh unitree@192.168.123.164
  1. Open a new terminal, enter 1 (to select the ROS environment as Foxy), and press Enter to enter the ROS 2 environment.