Real-World Deployment

August 11, 2025 ยท View on GitHub

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

ComponentSpecification
Unitree G1 EDU29-DoF Version
Apple Vision Pro
Router
Personal ComputerLinux 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