References

Official Unitree documentation

• G1 User Manual — official Unitree PDF — emergency stop, environment requirements, battery runtime, speed, calibration policy, Develop mode, shutdown procedure.
• Controls (Firmware V1.0.4) — Unitree G1 Docs — the complete combination table, the startup chain, and the emergency stop.
• Controls (Firmware V1.0.2) — the earlier L1-based layout.
• Overview — Unitree G1 Docs — Livox MID-360, RealSense D435i, and the DoF of each configuration.
• Unitree G1 Developer Guide — the official developer portal.
• G1 Development Guide — Weston Robot — IP addresses, credentials, and Debug mode.
• Motion — unitreerobotics/xr_teleoperate Wiki — the L1-to-L2 layout change and R1+X for a 1-DoF waist.
• Unitree G1 — Robotics Knowledgebase — FSM 500 / 501 / 801 and the R1+X / R1+Y / R2+A mapping.

Software

• unitree_sdk2 — the main C++ SDK.
• unitree_sdk2_python — the Python bindings.
• Isaac Lab — reinforcement learning and imitation learning.

Maintaining this manual

This manual documents firmware V1.0.4. When the robot is updated, verify the button layout against the legend printed on the remote and against the Unitree documentation for the new firmware version, then update the controls reference accordingly.

Report errors and submit corrections through the repository.