Programming the G1 means network, official SDK and often ROS 2, with torque limits and debugging. It is the core of CALIGO development.
Prerequisites
- Ubuntu 20.04/22.04
- Robot subnet
- unitree_sdk2
- Optional: ROS 2 Humble
Workflow
- Stable connectivity
- SDK examples in debug mode
- ROS 2 bridge
- Simulation to iterate policies