Intro to the Unitree G1

Course•By Dave Erath

Mastering Humanoid Simulation with MuJoCo & the G1

Course Outline: 1️⃣ Install MuJoCo and verify setup. 2️⃣ Import and explore the Unitree G1 humanoid model. 3️⃣ Learn MuJoCo’s interface—start, pause, reset, and analyze runtime stats. 4️⃣ Understand physics solvers, integrators, and balance mechanics. 5️⃣ Tune simulation parameters for smooth, stable motion. 6️⃣ Adjust environmental physics like gravity, wind, and friction. 7️⃣ Run G1 motion demos (walk, run, squat). 8️⃣ Load human motion data and try interactive control. 9️⃣ Visualize datasets in 3D using Rerun to replay humanoid motion. 🔟 Use Rerun for analysis—compare walking vs dancing, identify motion differences, and evaluate realism.

Course•By Fred

OM1 Integration on G1: Powered by Open Mind

Unlock the full potential of the Unitree G1 Humanoid Robot with this advanced, hands-on course — developed in collaboration with the team at Open Mind. Designed for researchers, engineers, and advanced robotics enthusiasts, this training takes you from setup and connectivity to intelligent motion control and teleoperation using NVIDIA Jetson Orin, ROS2 Humble, and OM1 Agent Architecture. Through real-world examples and guided exercises, you’ll learn how to connect, configure, and program the G1 for powerful AI-driven applications. Master ROS2 networking, CycloneDDS optimization, Python customization, and VR-based teleoperation, all while understanding the underlying agent architecture that powers the robot’s intelligence.

Course•By Fred

Sim2Real: Embodied AI with Isaac Sim and Unitree G1

Course Outline Orientation – Overview, outcomes, system requirements Install & Verify – Install Isaac Sim, set up Isaac Lab, project structure USD & PhysX – USD basics, PhysX physics, scene assembly Sensors & Observations – IMU, force sensors, height data, observation terms Commands & Actions – Velocity/waypoint commands, action spaces, scaling MDP – Rewards, terminations, events, randomization hooks Terrain & Curriculum – Terrain generators and difficulty progression Perf & VecEnv – Vectorized environments, async/headless rendering RL (RSL-RL) – PPO training, key hyperparameters, debugging rewards Go1 Task – Go1 model, locomotion env, domain randomization Obstacles & Cues – Goals, markers, obstacles, navigation cues Eval & Logs – TensorBoard/W&B, saving and loading policies Sim2Sim – ROS 2 bridging, packaging policies as ROS nodes Sim2Real (Go1) – Bring-up, safety, deployment, tuning, validation Troubleshooting – Common issues and fixes

Course•By Dave Erath

Unitree Go2: Setup and Operation Essentials

Module 1: Getting Started – Unbox your Unitree Go2, connect it to the app, update firmware, and perform calibration for optimal performance. Module 2: Core Setup & Movement – Learn posture and movement control, set up accompanying and Benben modes, switch perspectives in the app, and connect the remote for manual operation. Module 3: Programming & Advanced Features – Explore graphic programming, audio playback, leash mode, AI mode, advanced controls, and mapping/navigation tools to unlock the full potential of your Go2.

Course•By Fred