Skip to main content

G1 Bridge SDK

C++ DDS bridge library wrapping unitree_sdk2 with pybind11, providing near-zero latency (< 0.5 ms) access to Unitree G1's real-time communication interface.

All DDS publish/subscribe runs on native C++ threads. The Python side only calls simple get/set methods.

Dependencies​

  • CMake >= 3.10
  • GCC >= 9.4 (C++17 support)
  • pybind11 >= 2.6
  • Unitree SDK2 (bundled in third_party/g1_bridge_sdk/thirdparty/unitree_sdk2/, no manual install needed)
  • Cyclone DDS (unitree_sdk2 dependency)

Installation​

bash scripts/setup/setup_g1_bridge.sh

The script clones unitree_sdk2, installs pybind11, and builds the C++ bridge automatically.

Python API​

import g1_bridge_sdk

bridge = g1_bridge_sdk.G1Bridge(
    network_interface="eth0",   # Network interface connected to G1
    publish_hz=200              # Command publish rate (default 200 Hz)
)
MethodDescription
wait_for_state(timeout_sec=5.0)Block until first LowState frame; returns False on timeout
get_state()Returns (qpos[29], qvel[29], quat[4], ang_vel[3]) numpy arrays
get_state_counter()Returns cumulative LowState frame count
get_wireless_remote()Returns 40-byte wireless remote data
get_mode_machine()Returns current mode_machine value
set_target(target, kp, kd)Set target joint positions and PD gains (29 elements each)
lock_joints()Lock current joint positions
set_damping()Switch to damping mode (for emergency stop)
start_publish()Start command publish thread
stop_publish()Stop command publish thread
check_mode()Query current motion mode, returns (code, name)
select_mode(name)Switch motion mode (e.g., "ai", "normal")
release_mode()Release current mode, enter low-level control

Usage​

  • Onboard sim2real: scripts/run/run_onboard_sim2real.py
  • Pico4 hardware teleoperation: scripts/run/run_sim2real.py
  • Standalone standing test: scripts/run/standalone_standing.py