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GORT quick start with DEX3

This quick start is for GORT, MobiLab's Unitree G1 robot with DEX3 hands.

1. Connect to the G1​

If Wi-Fi is already connected and you know the robot's IP, connect directly with SSH and continue to step 2.

Otherwise, connect via Ethernet​

Connect the notebook to the G1 with an Ethernet cable and enable the notebook's Ethernet connection on the G1's subnet, as described in Connecting via Ethernet. Then open an SSH session:

ssh unitree@192.168.123.164

Enable Wi-Fi on the G1​

In the SSH session on the G1, activate the saved Wi-Fi connection and find its IP:

sudo nmcli connection up "MobiLab5G"
ip -4 addr show wlan0

Use the saved connection name for your network. If it has not been configured yet, follow Enabling Wi-Fi.

The address after inet is the robot's Wi-Fi IP. For example, 192.168.50.113/24 means the IP is 192.168.50.113. It can change between sessions.

Connect the notebook and Meta Quest to the same Wi-Fi network as the G1. From the notebook, verify SSH over Wi-Fi before disconnecting Ethernet:

ssh unitree@192.168.50.113

Replace 192.168.50.113 in the commands below with the robot's current Wi-Fi IP.

2. Put the G1 in motion mode​

On the G1's remote controller, use this sequence:

  1. L2 + B to enter damping.
  2. L2 + UP to enter ready.
  3. R2 + A to enter motion.

3. Start the camera server on the G1​

In the first SSH terminal, run:

conda activate teleimager
cd ~/teleimager
./run_realsense_server.sh

Use the directory where run_realsense_server.sh is installed if it differs from ~/teleimager. Leave this terminal running.

4. Start teleoperation on the G1​

Open a second terminal on the notebook and connect to the G1, then run:

conda activate g1
cd ~/Teleoperacao/xr_teleoperate/teleop/
python teleop_hand_and_arm.py --display-mode ego --img-server-ip 192.168.50.113 --input-mode hand --ee dex3 --motion

For the G1 with DEX3 hands, include both --input-mode hand and --ee dex3. The --motion flag uses the motion mode selected in step 2. Leave this terminal running too.

5. Connect the Meta Quest and start​

In the Quest browser, open https://192.168.50.113:8012, using the G1's current Wi-Fi IP. If the browser shows a warning for the configured self-signed certificate, proceed to the page.

Wait for websocket is connected to appear in the teleoperation terminal. Then press r in that terminal to start synchronizing the robot with your movements.

To finish, press q in the teleoperation terminal, then Ctrl+C in the camera-server terminal.