Deploying Python Code to Unitree G1

Prerequisites

Before you begin, ensure you have the following:

• Target Robot IP: 192.168.123.164

• Username: unitree

• Password: 123

• Robot State: Ensure the robot is in Development Mode.

Step 1: Locate your Script

Identify the local path of the Python script you wish to deploy. In this example, we are using:

C:\Users\wahee\OneDrive\Desktop\1768287590424-last_piano_before_bed_script.py

Step 2: Transfer the File (SCP)

Use the scp (Secure Copy) command to push the file from your local machine to the robot. Open your terminal (PowerShell or Command Prompt) and run:

scp \"C:\Users\wahee\OneDrive\Desktop\1768287590424-last_piano_before_bed_script.py\" unitree@192.168.123.164:~/

Note: You will be prompted to enter the password (123) after running this command.

Step 3: Connect and Install SDK

SSH into the robot and install the unitree_sdk2_python library.

Note: The robot needs an internet connection to install packages. If sudo apt update fails, follow the Internet Setup section below.

ssh unitree@192.168.123.164

# Install dependencies
sudo apt update && sudo apt install -y python3-pip git
pip3 install cyclonedds==0.10.2 numpy opencv-python

# Clone and install Python SDK
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
pip3 install .

Step 4: Execute the Code

Since your script uses the Unitree SDK directly (not a ROS2 node), you can run it with standard Python:

python3 ~/1768287590424-last_piano_before_bed_script.py

Note: Ensure the robot's arms are clear of obstacles before running!

# 1. Enable Wi-Fi
sudo nmcli radio wifi on

# 2. Scan for networks
sudo nmcli dev wifi list

# 3. Connect (Replace with your details)
sudo nmcli dev wifi connect "Your_WiFi_Name" password "Your_Password"

# 4. Test connection
ping google.com