Leg/hip/ankle motors overheat and force a shutdown

Symptom: Ankle-roll motors reach ~90°C within 5-10 min even near-idle; the left hip joint overheats after ~30 min of teleoperation and triggers an automatic system shutdown. Fix: Overheating is tied to aggressive controller gains, not always a hardware fault. Reduce Kp/Kd gains, adjust standing posture to lower static load, and prefer Unitree's stock controller for extended runs. If temps spike on the stock controller too, stop use and inspect — a genuinely failing actuator needs service.

Shoulder/arm motor overheats and goes limp with Inspire dexterous hand

Symptom: The shoulder-pitch arm motor overheats after short operation and the arm loses responsiveness when paired with the Inspire FTP dexterous hand. Fix: No vendor fix documented. Community direction: the arm needs gravity/payload compensation for the added hand mass and lower torque limits; owners are still seeking Unitree's recommended PD gains for this pairing. Treat as a tuning problem before assuming hardware failure.

Robot ignores SDK commands (stuck in damp / develop mode)

Symptom: G1 boots into 'damp mode' and ignores SDK commands; entering 'develop mode' also disables SDK responsiveness, so users conclude the SDK is broken. Fix: Activate the robot with the remote before sending SDK commands: press L1+A, then L1+UP to leave damp mode. Do not sit in develop mode if you need SDK control. If you entered develop mode, renew the ai-sport client via the app.

WaveHand / ShakeHand fail from SDK (error 3203 'API not implemented')

Symptom: WaveHand and ShakeHand arm actions work from the remote but fail from Python/C++/ROS2; ROS2 returns error 3203 'API not implemented on server'. Fix: Update robot firmware to v1.3.0 or later. Also make sure the robot is activated out of damp mode (L1+A, L1+UP) before issuing the commands.

Code and official examples break after firmware 1.4.0 ('ClientStub send request error')

Symptom: Previously working Python code and official SDK examples stop working after updating to firmware 1.4.0; repeated '[ClientStub] send request error'. Related: GetVolume returns error 3102, high-level/audio examples fail. Fix: No vendor fix documented. Confirm the robot is activated (out of damp mode), verify the SDK version matches the firmware, and if you upgraded specifically for a feature, be aware some users rolled back. Watch Unitree release notes for a follow-up patch.

Inspire hand won't open serial port / is unreachable at its IP

Symptom: 'Open Serial port /dev/ttyUSB0 failed' — the Inspire hand can't be controlled; or the FTP hand is unreachable at 192.168.123.211. Fix: The control method depends on the hand variant. FTP Inspire hands use Modbus TCP, not a serial port — using serial code on an FTP hand fails by design. Confirm which variant you have and use the matching control method; verify the hand's IP is reachable on the 192.168.123.x network.

Dex3-1 hand thumb barely moves during teleoperation

Symptom: In teleop the thumb only makes 3-4° micro-movements versus full range in simulation; thumb-to-index pinch bottoms out at ~5cm, too coarse for fine manipulation. Fix: No fix documented. Power-up self-check shows joints normal and simulation works, which points to a command-mapping mismatch between teleop and the hand driver rather than hardware. Report the driver version to Unitree.

Teleoperation latency grows to ~2.5s after 1-2 hours

Symptom: Arm and camera latency climbs to ~2.5s after prolonged teleop; arm prep pose takes ~4s instead of ~2s, eventually appearing immediately on startup. Fix: No fix documented. Upgrading to a gigabit router and WiFi 6 did not help, and simulation mode is unaffected — suggesting an onboard buffering/accumulation issue rather than the network. Restart the teleop stack between long sessions as a stopgap.

Policy deployment over WiFi hangs on 'Waiting for connection rt/lowstate'

Symptom: Deploying over WiFi hangs on 'Waiting for connection rt/lowstate' even though SSH to the robot works; wired ethernet works fine. Fix: Use a wired connection and specify the interface, e.g. ./g1_ctrl --network enx701988512412. DDS multicast for lowstate does not traverse the wireless interface reliably.

CycloneDDS version mismatch crashes G1 sim init

Symptom: DDS assertion failure / CycloneDDS writer error when initializing the G1 simulation; it won't start. Fix: Don't source the ROS setup script (its DDS libs differ from unitree_sdk2's). Verify which .so is linked at compile time. Alternatives: build CycloneDDS 0.10.2 from source, patch unitree-sdk2py for 0.10.5, or develop on Ubuntu 20.04.

'Unmatched robot type' on Ethernet connect (23 vs 29 DOF)

Symptom: The controller connects over Ethernet then immediately fails with 'Unmatched robot type' during sim-to-real deployment. Fix: The robot's DOF/config must match the controller's expected type. Set the correct DOF in your config, and check for conflicting SDK installs in /usr/local vs your project path — rebuilding unitree_sdk2 cleanly (deploy build with -DBUILD_EXAMPLES=OFF, sim build with a separate CMAKE_INSTALL_PREFIX) resolves the related unresponsive-velocity-mode case.

Moving arms via SDK while walking destabilizes balance

Symptom: Controlling the arms via SDK while walking (gamepad) makes the robot bend forward or lose balance; raising arms while walking produces an unstable, heavy gait. Fix: No fix documented. Zeroing waist axes, holding initial values, and leaving them untouched were all tried without success — the arm SDK controller and the locomotion balance controller conflict. Avoid large arm motions during locomotion until a firmware update addresses it.

Simulated G1 collapses with no default stabilization

Symptom: In MuJoCo simulation the G1 has no default stabilization and falls over when run without controls. Fix: Enable the elastic band: set enable_elastic_band: 1 in unitree_mujoco/simulate/config.yaml (or ENABLE_ELASTIC_BAND=True). Note the factory motion controller isn't available in sim, and the band can be awkward to disable when switching to joystick control.

Short battery runtime (~2 hours)

Symptom: The 9,000 mAh battery gives only about 2 hours per charge, and drains faster under dynamic movement. Fix: This is a capacity limitation, not a fault. Keep charged spare batteries for hot-swapping between sessions; budget runtime around ~2 hours of active use.

Base G1 can't be programmed — no SDK

Symptom: Buyers of the ~$13,500 base G1 discover it's a demo/showcase unit with no SDK and cannot be programmed. Fix: This is a product-tier limitation. SDK access, higher torque, and more DOF require the G1 EDU / developer platform (~$44k-$74k). Confirm the tier before purchase if you intend to develop.

Solid red LED / physical fault checklist (falls, cables, battery)

Symptom: Solid red LED indicating a software/hardware error; plus field faults — cracks/dents from falls, sensor degradation from dust or misalignment, unresponsive components from loose/frayed cables, battery swelling or deformation. Fix: Visually inspect for impact damage; clean sensors and confirm mounting; reseat cables and connectors; verify battery seating and replace if swollen or leaking. On a solid red LED, run the mobile-app diagnostics and record a video of any intermittent fault before contacting support. Note: opening the shell voids the warranty.

Critical security: BLE command injection with hardcoded keys (UniPwn)

Symptom: A command-injection flaw in the BLE Wi-Fi provisioning, using hardcoded AES keys shared across all units, allows root access and is potentially wormable. Separate research found telemetry transmitted to external servers every ~5 minutes. Fix: No confirmed vendor patch documented at time of writing. Mitigate at the network level: isolate the robot on a segmented/firewalled network, restrict access to its internal interface (192.168.123.0/24), and block unexpected outbound traffic. Watch for a Unitree firmware advisory.

Viral demo skills are choreographed, not autonomous

Symptom: Kung-fu and backflip clips are trained showcases; the robot has no household autonomy out of the box and fails simple tasks like opening a door. Fix: Expectation-setting, not a fault. Autonomous task performance requires significant development on the EDU platform; the base experience is remote/pre-programmed motions.

G1 23-DOF robot moves erratically in MuJoCo Sim2Sim

Symptom: When running Sim2Sim in MuJoCo with a policy trained in Isaac Lab for the G1 23-DOF configuration, the robot fails to walk properly and moves erratically. The suspected cause reported in the thread is that motor IDs were not adapted for the 23-DOF version. Fix: Vendor (Agnel-Wang) added 23-DOF deploy code to the repository; reporter confirmed successful Sim2Real after using the updated code.

G1_29_ArmController repeatedly prints 'Waiting to subscribe dds' and robot app reports firmware communication fault

Symptom: When running the teleoperation script, the controller loops indefinitely printing '[G1_29_ArmController] Waiting to subscribe dds...' and the mobile app reports '底层固件通信故障' (underlying firmware communication fault). DDS communication between the host device and the robot is not established despite the devices being on the same network. Fix: Maintainer suggests verifying network connectivity with 'cyclonedds ps' and 'cyclonedds subscribe rt/lowstate'; if unresolved, submit a support ticket. One commenter reported that low-level examples worked but high-level arm examples produced no robot motion and send request errors.

Apple Vision Pro WebSocket immediately disconnects on every page load in teleoperation setup

Symptom: When accessing the teleoperation server from Apple Vision Pro Safari, the WebSocket connects but immediately disconnects on every page load, producing 'AssertionError: Websocket session is missing.' on the server. Refreshing the page repeats the connect/disconnect cycle; the only workarounds found are removing the AVP headset or fully closing Safari and waiting a few seconds. Fix: Temporarily stable connection achieved by taking off the AVP or closing Safari entirely for a few seconds. Maintainer suggested trying 'https://vuer.ai/?ws=wss://host ip:8012' but no confirmed fix was provided.

WBC policy streams values but real G1 does not move after hand calibration

Symptom: Via the community GR00T-WholeBodyControl driver: after the robot enters debug mode and the hands calibrate successfully, the G1 does not move at all despite the terminal showing the policy streaming values to the robot. No errors are reported and the parallel simulation runs correctly. Fix: no confirmed fix

Vuer image feed on Quest 3 freezes on first frame during real-robot teleoperation

Symptom: When running the teleoperation pipeline with a Quest 3 headset, the Vuer display shows only the first captured frame and then freezes, while the image client on the PC confirms the live camera feed is working correctly. The issue was reproduced both in the main branch and with the teleimager branch. Fix: Maintainer suggested switching to the teleimager branch (WebRTC streaming); reporter applied the branch but noted it does not support simulation deployment. No fully confirmed fix for the frozen frame issue.

Teleoperation page goes black and WebSocket disconnects when entering VR mode on Apple Vision Pro

Symptom: After the Vision Pro successfully displays the binocular camera feed, clicking 'virtual reality' and granting hand-tracking permission causes the display to go black and the WebSocket to disconnect immediately, raising 'AssertionError: Websocket session is missing.' The error traceback originates in vuer/server.py. Fix: Maintainer suggested using only 5 GHz Wi-Fi, monitoring ping latency to the AVP (should be under 50 ms), testing with the televuer script directly, and trying vuer version 0.0.32rc7. No confirmed fix reported.

G1 does not walk when locomotion command issued via teleoperation controller; joystick input ignored

Symptom: When using the controller mode of the teleoperation script with the --motion flag, arm control works correctly but the robot does not respond to joystick commands for walking. Even after exiting the program, the physical remote control also cannot make the robot walk, though arm gestures continue to function normally. Fix: Maintainer identified that the ai_sport locomotion service name changed at version 8.2.0.0 (LOCO_SERVICE_NAME must be 'sport' for >=8.2.0.0, 'loco' for earlier). Also advised specifying the correct network interface name in the code if running on a multi-NIC device. Maintainer confirmed locomotion worked on their robot with version 8.4.0.0 after a git pull update.

G1 sim2sim policy causes robot to drift left and shake arms uncontrollably in MuJoCo

Symptom: When deploying a trained RL policy (or the provided v0 policy) from unitree_rl_lab into MuJoCo via simulate_python, the G1 robot drifts to the left side, shakes its arms with high frequency and low amplitude, and is nearly impossible to control with the joystick. The robot also jitters immediately after pressing the movement activation button sequence. Fix: Community suggestion: increase the arm and wrist armature value in the MuJoCo g1_29dof.xml to reduce arm shaking. No confirmed fix for the overall drift/instability.

RuntimeError 'list index out of range' in unitree_mujoco when running G1 with hand configuration

Symptom: Running unitree_mujoco.py for G1 (or H1 with Inspire hands) raises '[RecurrentThread] target func raise exception: name=IndexError, args=("list index out of range",)' at runtime. The error occurs when attempting to simulate the robot with hand attachments. Fix: Community workaround: use scene_29dof.xml instead of scene_29dof_with_hand.xml. Separately, ensure the ROBOT name in config.py is exactly one of the supported names (e.g. 'g1') and not a variant like 'g1_23dof'.

High-level SDK commands return 'send request error' on G1; low-level commands work

Symptom: When running high-level SDK commands (e.g. g1_loco_client_example.py), the client prints '[ClientStub] send request error. id: ' and the command is not executed. Low-level scripts (g1_low_level_example.py) work correctly. Fix: no confirmed fix

WebSocket disconnects immediately when entering VR mode on Meta Quest 3 with hand tracking input

Symptom: When using xr_teleoperate with a Meta Quest 3, the WebSocket connection to the Vuer page on port 8012 drops immediately upon clicking the Virtual Reality button, printing 'websocket is now disconnected' and 'AssertionError: Websocket session is missing.' The issue is specific to hand tracking input mode; switching to controller input mode keeps the connection active. Fix: Community workaround: downgrade xr_teleoperate to v1.0 resolves the disconnect. Alternatively, switching to --input-mode=controller keeps the WebSocket connected. Using the Wolvic browser instead of the Meta Quest default browser also prevents the WebSocket disconnect, though camera streaming issues remain.

Teleoperation VR page unreachable via local IP; WebSocket drops on entering VR mode

Symptom: When accessing the teleoperation interface via the local IP address (https:// :8012?ws=wss:// :8012), the page either fails to load or shows a black screen. On entering VR/pass-through (WebXR mode), the WebSocket drops and the robot stops receiving tracking data, with the server reporting 'Websocket session is missing' and occasional aiohttp 'resume_writing() AssertionError'. Fix: Maintainer suggests verifying that the host IP is included in the certificate's SAN field, using incognito/private browsing, and trying version-pinned vuer/televuer combinations. A community contributor identified that Quest browser's RTCPeerConnection.createOffer() never resolves and proposed a server-initiated WebRTC flow as a workaround, but this has not been officially upstreamed. No confirmed fix from vendor.

Teleoperation program exits automatically shortly after robot raises arms when Inspire FTP hand is enabled

Symptom: When launching teleop_hand_and_arm.py with the Inspire FTP dexterous hand enabled (--ee=inspire_ftp), the robot raises both arms slightly and then the program terminates automatically, dropping the arms. The log shows the image client closes unexpectedly and the program exits without a clear error message. Fix: Workaround confirmed by user: run without the --ee=inspire_ftp flag (i.e., without activating the FTP dexterous hands) to operate the arms alone. Maintainer noted all end-effector code is written for a left-and-right pair, so a single defective hand can break things. User patched the Inspire_Controller_FTP class to handle single-hand operation. Maintainer also suggested trying the latest code version.

Both Inspire dexterous hands mirror only the right hand's movement due to serial port misconfiguration

Symptom: During teleoperation with two Inspire dexterous hands, both hands follow only the movement of the right hand. The root cause identified in the thread is that the example code sends commands for both hands to the same serial port. Fix: Community-identified fix confirmed by maintainer: modify inspire_ctrl.cpp to initialize two separate serial ports (serial1 = /dev/ttyUSB1, serial2 = /dev/ttyUSB2) and bind each hand to its respective port and ID. Vendor provided corrected inspire_ctrl.cpp code in the comments.

unitree_mujoco simulator crashes with 'free(): invalid pointer' / 'Aborted (core dumped)' at runtime

Symptom: After launching the unitree_mujoco simulator binary, the program starts ('MuJoCo data is prepared') and then immediately crashes with 'free(): invalid pointer' and 'Aborted (core dumped)'. An earlier variant of the error was 'Joystick open failed'. Multiple users report this across MuJoCo versions 3.2.7 and 3.3.1. Fix: One community user traced the crash on Ubuntu 24.04 / ROS2 Jazzy to a DDS library path conflict (ROS2 Jazzy's DDS libraries and unitree_sdk2-installed DDS libraries loaded simultaneously). Resolving the path conflict fixed the crash for that user. The joystick error was fixed in a specific commit (2f5459d). No single confirmed fix for all reported variants.

G1 overheats and shuts down after a few minutes running sonic_release policy, causing falls

Symptom: Via the community GR00T-WholeBodyControl driver: When deploying the sonic_release policy on a real 29-DoF G1 robot equipped with Dex3 hands, the robot issues an overheating warning after a few minutes even while standing idle, then Sonic shuts down automatically, causing the robot to fall multiple times. Fix: no confirmed fix

WebSocket session drops and VR view goes black when entering Virtual Reality mode on Quest 3

Symptom: After successfully connecting Quest 3 to the teleoperation page (vuer interface loads but shows a black screen), clicking 'Virtual Reality' causes the WebSocket session to disconnect. The terminal shows the connection dropped. A community contributor traced this to a bug in Meta Quest 3's browser where RTCPeerConnection.createOffer() never resolves its Promise, breaking the default client-initiated WebRTC flow. Fix: Community contributor proposed reversing the WebRTC negotiation to a server-initiated flow (server creates offer, browser calls createAnswer()) as a workaround. No confirmed upstream fix.

DDS communication fails when host PC connects to G1 over Wi-Fi instead of Ethernet

Symptom: Teleoperation works correctly when the laptop is connected to the robot via Ethernet cable, but fails with DDS errors when attempting to operate wirelessly over Wi-Fi. Additionally, when running everything on the robot's PC2 (Jetson), connection problems appear after approximately 10 minutes. Fix: Maintainer suggests using a DDS forwarding proxy at the application layer, or mounting a router to the back of the G1 (subnet 192.168.123.*/24) powered from the G1's power interface. No single confirmed complete fix.

Unitree G1: 已知问题与解决方案

最后更新 2026年8月23日

38个已知问题 View robot profile →

保修与安全须知： 保修期从收货之日起生效。机主需自行承担将设备寄回Unitree进行诊断的运费。私自拆开外壳、拆卸或未授权改装将导致保修失效。目前没有面向消费者的备件渠道，经销商仅提供一级支持。G1基础版约8个月；G1 EDU约18个月（欧盟24个月）。来源： https://www.unitree.com/mobile/terms/policy https://blog.robozaps.com/b/unitree-g1-review 以下列出的临时解决方案来源于社区，不保证有效。

电机/执行器影响使用存在临时解决方案

腿部/髋关节/踝关节电机过热导致强制关机

症状: 即使在近乎闲置状态下，踝关节Roll电机也会在5-10分钟内达到约90°C；左髋关节在约30分钟的遥操作后过热并触发自动系统关机。

受影响范围: 在使用第三方全身控制器（NVIDIA GEAR-SONIC / Isaac-GR00T N1.7 on Jetson Orin NX）时报告。Unitree原装控制器可将踝关节温度保持在30-45°C。

修复/临时解决方案: 过热与激进的控制器增益相关，不一定是硬件故障。降低Kp/Kd增益，调整站立姿势以降低静态负载，延长运行时优先使用Unitree原装控制器。如果原装控制器上也出现温度飙升，请停止使用并检查——真正故障的执行器需要维修。

来源： github.com/NVlabs/GR00T-WholeBodyControl #174 github.com/NVlabs/GR00T-WholeBodyControl #71

电机/执行器降低使用体验已开启/未解决

肩部/手臂电机过热并在使用Inspire灵巧手时变软无力

症状: 肩部俯仰手臂电机在短时间操作后过热，手臂在连接Inspire FTP灵巧手时失去响应。

受影响范围: G1 ARM7 + Inspire FTP手，ROS2 Humble；用户使用的PD增益为kp=40 / kd=1.5。

修复/临时解决方案: 厂商尚未提供修复文档。社区建议：手臂需要对增加的手部质量和较低扭矩限制进行重力/负载补偿；用户仍在寻求Unitree针对此搭配推荐的PD增益。在判定硬件故障前，请先将其视为调参问题。

来源： github.com/unitreerobotics/unitree_sdk2_python #129

固件/更新烦人问题存在临时解决方案

机器人忽略SDK命令（卡在damp模式/develop模式）

症状: G1启动进入'damp模式'并忽略SDK命令；进入'develop模式'也会禁用SDK响应，导致用户认为SDK损坏。

受影响范围: G1固件的一般行为。

修复/临时解决方案: 发送SDK命令前先用遥控器激活机器人：按L1+A，然后按L1+UP退出damp模式。如果需要SDK控制，不要停留在develop模式。如果已进入develop模式，通过app刷新ai-sport客户端。

来源： github.com/unitreerobotics/unitree_sdk2_python #42 github.com/unitreerobotics/unitree_sdk2_python #43

SDK/软件降低使用体验厂商已修复

WaveHand / ShakeHand从SDK调用失败（错误3203 'API未实现'）

症状: WaveHand和ShakeHand手臂动作从遥控器可以使用，但从Python/C++/ROS2调用失败；ROS2返回错误3203 'API在服务器上未实现'。

受影响范围: v1.3.0之前的固件。

修复/临时解决方案: 将机器人固件更新至v1.3.0或更高版本。同时确保机器人在发出命令前已激活退出damp模式（L1+A, L1+UP）。

来源： github.com/unitreerobotics/unitree_sdk2_python #42

固件/更新影响使用已开启/未解决

固件1.4.0后代码和官方示例损坏（'ClientStub发送请求错误'）

症状: 之前正常工作的Python代码和官方SDK示例在更新至固件1.4.0后停止工作；反复出现'[ClientStub]发送请求错误'。相关问题：GetVolume返回错误3102，高级/音频示例失败。

受影响范围: 固件1.4.0。

修复/临时解决方案: 厂商尚未提供修复文档。确认机器人已激活（退出damp模式），验证SDK版本与固件匹配，如果升级是为了某个特定功能，请注意部分用户已选择回滚。关注Unitree发布说明以获取后续补丁。

来源： github.com/unitreerobotics/unitree_sdk2_python #78 github.com/unitreerobotics/unitree_sdk2_python #33

手部/夹爪影响使用存在临时解决方案

Inspire手无法打开串口/在其IP地址不可达

症状: '打开串口 /dev/ttyUSB0 失败' — Inspire手无法控制；或者FTP手在192.168.123.211处不可达。

受影响范围: 带有Inspire手的G1（DFX串口版与FTP modbus-TCP版）。

修复/临时解决方案: 控制方法取决于手部型号。FTP Inspire手使用Modbus TCP，而非串口——在FTP手上使用串口代码本身就是设计上的错误。确认您拥有哪个型号并使用匹配的控制方法；验证手部IP在192.168.123.x网络上可达。

来源： github.com/unitreerobotics/xr_teleoperate #51

手部/夹爪降低使用体验已开启/未解决

Dex3-1手拇指在遥操作期间几乎不动

症状: 在遥操作中，拇指仅做出3-4°的微动，而仿真中是全范围动作；拇指-食指捏合最低仅达约5cm，对于精细操作来说太粗糙。

受影响范围: G1软件V1.4.7 + Dex3-1手。

修复/临时解决方案: 尚无修复文档。通电自检显示关节正常，仿真也正常，这表明问题在于遥操作与手部驱动之间的命令映射不匹配，而非硬件。请向Unitree报告驱动版本。

来源： github.com/unitreerobotics/xr_teleoperate #229

网络/连接降低使用体验已开启/未解决

遥操作延迟在使用1-2小时后增长至约2.5秒

症状: 手臂和相机延迟在使用延长遥操作后攀升至约2.5秒；手臂预摆姿势从约2秒延长至4秒，最终在启动时立即出现。

受影响范围: xr_teleoperate v1.3和v1.5。

修复/临时解决方案: 尚无修复文档。升级到千兆路由器和WiFi 6也没有帮助，仿真模式不受影响——这表明问题在于机载缓冲/累积而非网络。作为临时解决方案，请在长时间会话之间重启遥操作堆栈。

来源： github.com/unitreerobotics/xr_teleoperate #247

网络/连接降低使用体验存在临时解决方案

通过WiFi部署策略时卡在'等待连接rt/lowstate'

症状: 通过WiFi部署时卡在'等待连接rt/lowstate'，尽管SSH可以连接机器人；有线以太网则正常。

受影响范围: G1, 基于DDS的控制。

修复/临时解决方案: 使用有线连接并指定接口，例如 ./g1_ctrl --network enx701988512412。DDS 多播 lowstate 无法可靠地通过无线接口传输。

来源： github.com/unitreerobotics/unitree_rl_lab #93

SDK/软件影响使用存在临时解决方案

CycloneDDS 版本不匹配导致 G1 仿真初始化崩溃

症状: 初始化 G1 仿真时发生 DDS assertion 失败 / CycloneDDS writer 错误；无法启动。

受影响范围: Ubuntu 22.04, ROS2 Humble；系统 CycloneDDS 0.10.5 与 Python CycloneDDS 0.10.2 版本冲突。

修复/临时解决方案: 不要 source ROS setup 脚本（其 DDS 库与 unitree_sdk2 的不同）。验证编译时链接的 .so 文件。可选方案：从源码编译 CycloneDDS 0.10.2、为 0.10.5 修补 unitree-sdk2py，或在 Ubuntu 20.04 上开发。

来源： github.com/unitreerobotics/unitree_mujoco #60

SDK/软件影响使用存在临时解决方案

以太网连接时出现"Unmatched robot type"（23 vs 29 DOF）

症状: 控制器通过以太网连接后，在 sim-to-real 部署期间立即因"Unmatched robot type"失败。

受影响范围: G1 23-DOF 和 29-DOF 变体（包括腰部锁定/假手配置）。

修复/临时解决方案: 机器人的 DOF/配置必须与控制器预期的类型匹配。在配置中设置正确的 DOF，并检查 /usr/local 与项目路径中是否存在冲突的 SDK 安装——干净地重新编译 unitree_sdk2（deploy build 使用 -DBUILD_EXAMPLES=OFF，sim build 使用单独的 CMAKE_INSTALL_PREFIX）可以解决相关的无响应速度模式问题。

来源： github.com/unitreerobotics/unitree_rl_lab #114 github.com/unitreerobotics/unitree_rl_lab #44

SDK/软件降低使用体验已开启/未解决

通过 SDK 控制手臂时步行会破坏平衡

症状: 在步行（手柄）时通过 SDK 控制手臂会导致机器人前倾或失去平衡；步行时抬起手臂会产生不稳定、笨重的步态。

受影响范围: 带 3-DOF 腰部的 G1。

修复/临时解决方案: 尚无修复文档。尝试将腰部轴归零、保持初始值并保持不动均未成功——手臂 SDK 控制器与运动平衡控制器存在冲突。在固件更新解决此问题前，避免在运动时进行大幅度手臂动作。

来源： github.com/unitreerobotics/unitree_sdk2_python #146

SDK/软件降低使用体验存在临时解决方案

仿真 G1 无默认稳定机制会倒塌

症状: 在 MuJoCo 仿真中，G1 没有默认稳定机制，在无控制的情况下会摔倒。

受影响范围: unitree_mujoco。

修复/临时解决方案: 启用弹性带：在 unitree_mujoco/simulate/config.yaml 中设置 enable_elastic_band: 1（或 ENABLE_ELASTIC_BAND=True）。注意出厂运动控制器在仿真中不可用，且切换到手柄控制时弹性带可能难以禁用。

来源： github.com/unitreerobotics/unitree_mujoco #57

电池/电源烦人问题不明确

电池续航时间短（约 2 小时）

症状: 9,000 mAh 电池每次充电只能使用约 2 小时，在动态运动时消耗更快。

受影响范围: 基础型号，9,000 mAh 电池组。

修复/临时解决方案: 这是容量限制，不是故障。保持充满电的备用电池以便在会话期间热插拔；预算约 2 小时的活跃使用时间。

来源： blog.robozaps.com/b/…

其他影响使用不明确

基础版 G1 无法编程——无 SDK

症状: 购买约 $13,500 基础版 G1 的用户发现它是演示/展示机型，没有 SDK，无法编程。

受影响范围: G1 基础版（23 DOF）vs G1 EDU（最高 43 DOF）。

修复/临时解决方案: 这是产品层级限制。SDK 访问、更高的扭矩和更多 DOF 需要 G1 EDU / 开发者平台（约 $44k-$74k）。如果计划开发，请在购买前确认层级。

来源： blog.robozaps.com/b/…

机械/结构影响使用存在临时解决方案

红色指示灯常亮 / 物理故障检查清单（跌落、电缆、电池）

症状: 红色指示灯常亮表示软件/硬件错误；以及现场故障——跌落造成的裂纹/凹痕、灰尘或错位导致的传感器性能下降、松动/磨损电缆导致的无响应组件、电池膨胀或变形。

受影响范围: 一般检查。

修复/临时解决方案: 目视检查冲击损坏；清洁传感器并确认安装；重新插拔电缆和连接器；验证电池安装并在膨胀或漏液时更换。在红色指示灯常亮时，运行手机应用诊断程序并录制任何间歇性故障的视频，然后再联系支持。注意：打开外壳会使保修失效。

来源： docs.westonrobot.com/tutorial/…

安全/隐私影响使用已开启/未解决

严重安全漏洞：使用硬编码密钥的 BLE 命令注入（UniPwn）

症状: BLE Wi-Fi 配置中的命令注入漏洞，使用在所有设备间共享的硬编码 AES 密钥，允许 root 访问且可能具有蠕虫性。另研究发现遥测数据每约 5 分钟传输到外部服务器。

受影响范围: G1（研究人员指出 Go2/H1 共享代码路径）。公开的 UniPwn 漏洞利用已发布。

修复/临时解决方案: 撰写本文时未记录到已确认的供应商补丁。在网络层面缓解：将机器人隔离在分段/防火墙网络环境中，限制访问其内部接口（192.168.123.0/24），阻止意外出站流量。关注 Unitree 固件公告。

来源： arXiv:2509.14139 spectrum.ieee.org/unitree-robot-exploit/… helpnetsecurity.com/2025/…

其他烦人问题不明确

病毒式演示技能是编排的，非自主行为

症状: 功夫和后空翻视频是训练展示；机器人开箱即用没有家庭自主能力，在简单任务如开门时会失败。

受影响范围: 一般检查。

修复/临时解决方案: 这是期望设定，不是故障。自主任务性能需要在 EDU 平台上进行大量开发；基础体验是远程/预编程动作。

来源： blog.robozaps.com/b/…

SDK/软件影响使用厂商已修复

G1 23-DOF 机器人在 MuJoCo Sim2Sim 中运动异常

症状: 在 MuJoCo 中使用 Isaac Lab 训练的策略运行 Sim2Sim 时，针对 G1 23-DOF 配置的机器人无法正常行走且运动异常。论坛中报告的疑似原因是电机 ID 未针对 23-DOF 版本进行适配。

修复/临时解决方案: 供应商 (Agnel-Wang) 在仓库中添加了 23-DOF 部署代码；报告者确认使用更新后的代码后成功完成了 Sim2Real。

来源： github.com/unitreerobotics/unitree_rl_lab #27

网络/连接影响使用已开启/未解决

G1_29_ArmController 重复打印 'Waiting to subscribe dds' 且机器人应用报告固件通信故障

症状: 运行遥操作脚本时，控制器无限循环打印 '[G1_29_ArmController] Waiting to subscribe dds...'，移动应用报告 "底层固件通信故障"。尽管主机设备和机器人在同一网络中，但 DDS 通信未能建立。

修复/临时解决方案: 维护者建议使用 'cyclonedds ps' 和 'cyclonedds subscribe rt/lowstate' 验证网络连接；如果仍无法解决，提交工单。一位评论者报告底层示例可以正常工作，但高层机械臂示例没有产生机器人运动并出现发送请求错误。

来源： github.com/unitreerobotics/xr_teleoperate #57

网络/连接影响使用已开启/未解决

遥操作设置中 Apple Vision Pro WebSocket 在每次页面加载时立即断开连接

症状: 从 Apple Vision Pro Safari 访问遥操作服务器时，WebSocket 连接但在每次页面加载时立即断开，服务器端产生 'AssertionError: Websocket session is missing.'。刷新页面会重复连接/断开循环；发现的唯一临时解决方法是取下 AVP 头显或完全关闭 Safari 并等待几秒钟。

受影响范围: vuer 0.0.60, televuer 4.0.0, xr_teleoperate commit 9fadc51, visionOS 最新版

修复/临时解决方案: 通过取下 AVP 或完全关闭 Safari 几秒钟实现临时稳定连接。维护者建议尝试 'https://vuer.ai/?ws=wss://host ip:8012'，但未提供确认的修复方案。

来源： github.com/unitreerobotics/xr_teleoperate #271

SDK/软件影响使用已开启/未解决

WBC 策略传输数值但灵巧手校准后真实 G1 无法移动

症状: 通过社区 GR00T-WholeBodyControl 驱动：机器人进入调试模式且灵巧手校准成功后，尽管终端显示策略正在向机器人传输数值，G1 完全不移动。未报告任何错误，并行仿真正常运行。

修复/临时解决方案: 无确认修复方案

来源： github.com/NVlabs/GR00T-WholeBodyControl #21

SDK/软件降低使用体验已开启/未解决

真实机器人遥操作期间 Quest 3 上的 Vuer 图像馈送冻结在第一帧

症状: 使用 Quest 3 头显运行遥操作流程时，Vuer 显示仅显示第一个捕获帧然后冻结，而 PC 上的图像客户端确认实时摄像头馈送正常工作。此问题在主分支和 teleimager 分支均可复现。

受影响范围: vuer 0.0.67, xr_teleoperate (控制器模式, G1_29)

修复/临时解决方案: 维护者建议切换到 teleimager 分支（WebRTC 流传输）；报告者应用了该分支但指出其不支持仿真部署。冻结帧问题没有完全确认的修复方案。

来源： github.com/unitreerobotics/xr_teleoperate #172

网络/连接影响使用已开启/未解决

在 Apple Vision Pro 上进入 VR 模式时遥操作页面变黑且 WebSocket 断开连接

症状: Vision Pro 成功显示双摄像头馈送后，点击 'virtual reality' 并授予手部追踪权限会导致显示变黑，WebSocket 立即断开连接，引发 'AssertionError: Websocket session is missing.'。错误追踪源于 vuer/server.py。

修复/临时解决方案: 维护者建议仅使用 5 GHz Wi-Fi，监控到 AVP 的 ping 延迟（应低于 50 ms），直接使用 televuer 脚本测试，并尝试 vuer 版本 0.0.32rc7。未报告确认的修复方案。

来源： github.com/unitreerobotics/xr_teleoperate #115

SDK/软件影响使用存在临时解决方案

通过遥操作控制器发出运动指令时 G1 无法行走；摇杆输入被忽略

症状: 使用带 --motion 标志的遥操作脚本控制器模式时，机械臂控制正常工作，但机器人对行走摇杆指令无响应。即使退出程序后，物理遥控器也无法使机器人行走，尽管手臂动作继续正常运行。

受影响范围: ai_sport 版本未指定；xr_teleoperate, G1_29

修复/临时解决方案: Maintainer identified that the ai_sport locomotion service name changed at version 8.2.0.0 (LOCO_SERVICE_NAME must be 'sport' for >=8.2.0.0, 'loco' for earlier). Also advised specifying the correct network interface name in the code if running on a multi-NIC device. Maintainer confirmed locomotion worked on their robot with version 8.4.0.0 after a git pull update.

来源： github.com/unitreerobotics/xr_teleoperate #77

Show all 38 issues

SDK/软件影响使用已开启/未解决

G1 joints do not move after teleoperation program starts and 'r' is pressed

症状: The teleoperation program starts without errors, DDS appears to connect, and the AVP displays the live camera feed with arm tracking, but the G1 robot does not move when the program is running and after pressing 'r' to start. Joint position output is absent from the log, unlike expected behaviour. Entering debug mode from the program is reported as inconsistent.

受影响范围: G1 29-DOF with Inspire dftp hands, AVP

修复/临时解决方案: 无确认修复方案

来源： github.com/unitreerobotics/xr_teleoperate #189

SDK/软件影响使用已开启/未解决

VR headset shows only blue grid, robot not visible in XR teleoperation sim

症状: When running XR teleoperation in simulation with a Meta Quest 3, the user successfully enters VR mode but sees only blue grids instead of the robot. The simulation terminal also shows '[DDSManager] object g1 not found' and 'g1_robot_dds is not initialized'.

受影响范围: unitree_sim_isaaclab with Isaac-PickPlace-Cylinder-G129-Dex3-Joint task; xr_teleoperate teleop_hand_and_arm.py; Meta Quest 3

修复/临时解决方案: 无确认修复方案

来源： github.com/unitreerobotics/xr_teleoperate #112

SDK/软件影响使用存在临时解决方案

G1 sim2sim策略导致机器人在MuJoCo中向左漂移且手臂不受控制地抖动

症状: 将unitree_rl_lab中训练好的RL策略（或提供的v0策略）通过simulate_python部署到MuJoCo时，G1机器人向左漂移，手臂以高频低幅方式抖动，几乎无法通过手柄控制。机器人在按下运动激活按钮序列后也会立即抖动。

受影响范围: unitree_rl_lab（最新）；Isaac Sim + Isaac Lab；unitree_mujoco与G1 29dof；simulate_python（非C++的simulate）

修复/临时解决方案: 社区建议：增加MuJoCo g1_29dof.xml中的手臂和手腕armature值以减少手臂抖动。目前尚无针对整体漂移/不稳定性的确认修复。

来源： github.com/unitreerobotics/unitree_rl_lab #31

SDK/软件影响使用存在临时解决方案

运行带手部配置的G1时，unitree_mujoco出现RuntimeError 'list index out of range'

症状: 运行unitree_mujoco.py对G1（或带Inspire灵巧手的H1）时，会在运行时抛出'[RecurrentThread] target func raise exception: name=IndexError, args=("list index out of range",)'。该错误发生在尝试模拟带手部附件的机器人时。

受影响范围: unitree_mujoco；带手部的G1（scene_29dof_with_hand.xml）；带Inspire手部的H1

修复/临时解决方案: 社区变通方案：使用scene_29dof.xml代替scene_29dof_with_hand.xml。另外，确保config.py中的ROBOT名称恰好是支持的名称之一（例如'g1'），而不是像'g1_23dof'这样的变体。

来源： github.com/unitreerobotics/unitree_mujoco #52

SDK/软件影响使用已开启/未解决

G1的高级SDK命令返回'send request error'；低级命令正常

症状: 运行高级SDK命令（例如g1_loco_client_example.py）时，客户端打印'[ClientStub] send request error. id: <id>'且命令未执行。低级脚本（g1_low_level_example.py）正常工作。

受影响范围: unitree_sdk2_python；G1机器人；g1_loco_client_example.py高级命令

修复/临时解决方案: 无确认修复方案

来源： github.com/unitreerobotics/unitree_sdk2_python #54

SDK/软件影响使用存在临时解决方案

在使用手部追踪输入的Meta Quest 3上进入VR模式时WebSocket立即断开

症状: 使用xr_teleoperate配合Meta Quest 3时，点击Virtual Reality按钮后，连接到端口8012上Vuer页面的WebSocket连接会立即断开，打印'websocket is now disconnected'和'AssertionError: Websocket session is missing.'。该问题仅在手部追踪输入模式下出现；切换到手柄输入模式可保持连接。

受影响范围: xr_teleoperate v1.5；vuer 0.0.60；aiohttp 3.10.5；Meta Quest 3内置浏览器；Ubuntu主机；Isaac Sim 5.1 + unitree_sim_isaaclab；G1_29 + Inspire

修复/临时解决方案: 社区变通方案：将xr_teleoperate降级到v1.0可解决断开问题。或者，切换到--input-mode=controller可保持WebSocket连接。使用Wolvic浏览器代替Meta Quest默认浏览器也可以防止WebSocket断开，但摄像头流问题仍然存在。

来源： github.com/unitreerobotics/xr_teleoperate #296

SDK/软件影响使用已开启/未解决

遥操作VR页面无法通过本地IP访问；进入VR模式时WebSocket断开

症状: 通过本地IP地址访问遥操作界面（https://<host-ip>:8012?ws=wss://<host-ip>:8012）时，页面加载失败或显示黑屏。进入VR/透视（WebXR模式）时，WebSocket断开，机器人停止接收追踪数据，服务器报告'Websocket session is missing'并偶发aiohttp 'resume_writing() AssertionError'。

受影响范围: vuer 0.0.60，televuer 4.0.0；硬件：Unitree G1 29-DoF EDU配Inspire RH56DFTP，Meta Quest 3和Apple Vision Pro（visionOS 26.4）

修复/临时解决方案: 维护者建议验证主机IP包含在证书的SAN字段中，使用隐身/私人浏览，并尝试版本固定的vuer/televuer组合。一位社区贡献者发现Quest浏览器的RTCPeerConnection.createOffer()永不解析，并提出将WebRTC流程改为服务器端发起作为变通方案，但尚未正式合并到上游。尚无供应商确认的修复。

来源： github.com/unitreerobotics/xr_teleoperate #297

SDK/软件影响使用存在临时解决方案

启用Inspire FTP灵巧手时，遥操作程序在机器人抬臂后自动退出

症状: 使用启用的Inspire FTP灵巧手（--ee=inspire_ftp）启动teleop_hand_and_arm.py时，机器人略微抬起双臂后程序自动终止，手臂落下。日志显示图像客户端意外关闭，程序退出且没有明确的错误信息。

受影响范围: xr_teleoperate；硬件：Unitree G1 29-DoF配Inspire FTP灵巧手

修复/临时解决方案: 用户确认的变通方案：不使用--ee=inspire_ftp标志（即不激活FTP灵巧手）来单独操作手臂。维护者指出所有末端执行器代码都是为左右配对编写的，因此单只损坏的手可能导致问题。用户已修补Inspire_Controller_FTP类以支持单手操作。维护者还建议尝试最新代码版本。

来源： github.com/unitreerobotics/xr_teleoperate #194

手部/夹爪影响使用厂商已修复

两个Inspire灵巧手都只镜像右手的动作——串口配置错误

症状: 在使用两个Inspire灵巧手进行遥操作时，两只手都只跟随右手的动作。帖子中确定的根本原因是示例代码将两只手的命令发送到同一个串口。

受影响范围: Unitree G1配Inspire DFX / RH56DFTP灵巧手；供应商示例包中的示例代码inspire_ctrl.cpp

修复/临时解决方案: 社区确定的修复方案已由维护者确认：修改inspire_ctrl.cpp初始化两个独立串口（serial1 = /dev/ttyUSB1，serial2 = /dev/ttyUSB2），并将每只手绑定到各自的串口和ID。供应商在评论中提供了修正后的inspire_ctrl.cpp代码。

来源： github.com/unitreerobotics/xr_teleoperate #46

SDK/软件影响使用存在临时解决方案

unitree_mujoco模拟器运行时崩溃，显示'free(): invalid pointer' / 'Aborted (core dumped)'

症状: 启动 unitree_mujoco 模拟器二进制文件后，程序启动（"MuJoCo data is prepared"），然后立即崩溃，错误信息为"free(): invalid pointer"和"Aborted (core dumped)"。较早版本的错误信息为"Joystick open failed"。多个用户在 MuJoCo 3.2.7 和 3.3.1 版本中均报告了此问题。

受影响范围: unitree_mujoco；MuJoCo 3.2.7 和 3.3.1；Ubuntu 22.04 和 Ubuntu 24.04 搭配 ROS2 Jazzy

修复/临时解决方案: 一位社区用户在 Ubuntu 24.04 / ROS2 Jazzy 上追踪到崩溃原因是 DDS 库路径冲突（ROS2 Jazzy 的 DDS 库和 unitree_sdk2 安装的 DDS 库同时加载）。解决路径冲突后该用户的问题得到修复。摇杆错误在特定提交（2f5459d）中已修复。暂无针对所有报告变体的单一确认修复方案。

来源： github.com/unitreerobotics/unitree_mujoco #51

电池/电源影响使用已开启/未解决

运行 sonic_release 策略几分钟后，G1 过热关机导致跌倒

症状: 通过社区 GR00T-WholeBodyControl 驱动：在配备 Dex3 手的真实 29-DoF G1 机器人上部署 sonic_release 策略时，机器人在站立静止几分钟后即发出过热警告，随后 Sonic 自动关机，导致机器人多次跌倒。

受影响范围: Unitree G1 29-DoF EDU 配备 Dex3 手；GR00T-WholeBodyControl sonic_release 检查点

修复/临时解决方案: 无确认修复方案

来源： github.com/NVlabs/GR00T-WholeBodyControl #121

SDK/软件影响使用已开启/未解决

进入虚拟现实模式时 WebSocket 会话断开，VR 视图黑屏

症状: 成功将 Quest 3 连接到遥操作页面后（vuer 界面加载但显示黑屏），点击"Virtual Reality"会导致 WebSocket 会话断开。终端显示连接已断开。一位社区贡献者追踪到这是 Meta Quest 3 浏览器中的一个 bug，RTCPeerConnection.createOffer() 永远不会解析其 Promise，破坏了默认的客户端发起 WebRTC 流程。

受影响范围: xr_teleoperate；硬件：G1-EDU 29-DoF 配备 Dex3-1，Meta Quest 3

修复/临时解决方案: 社区贡献者提议将 WebRTC 协商反向为服务器发起流程（服务器创建 offer，浏览器调用 createAnswer()）作为临时解决方案。暂无确认的上游修复。

来源： github.com/unitreerobotics/xr_teleoperate #267

网络/连接影响使用存在临时解决方案

主机 PC 通过 Wi-Fi 而非以太网连接 G1 时 DDS 通信失败

症状: 当笔记本电脑通过网线连接到机器人时遥操作正常工作，但通过 Wi-Fi 无线操作时失败并出现 DDS 错误。此外，在机器人 PC2（Jetson）上运行所有程序时，连接问题在约 10 分钟后出现。

受影响范围: xr_teleoperate；硬件：Unitree G1 EDU 配备 Inspire FTP 手和 Apple Vision Pro

修复/临时解决方案: 维护者建议在应用层使用 DDS 转发代理，或将路由器安装到 G1 背部（子网 192.168.123.*/24）并由 G1 电源接口供电。暂无单一确认的完整修复方案。

来源： github.com/unitreerobotics/xr_teleoperate #234

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