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a strands agent on the unitree g1+ · on the edge

3-minute tour GitHub

 live on G1 53 tools 500 Hz state 29 motors 0 cloud hops

neon > wave hello and tell me what you see → g1_arm_action('high wave') rc=0 · released → use_camera(source='realsense') rc=0 · 640×480 neon > Waved 👋 — I see a person at a desk.

the whole thing in 3 minutes·

1 What it is. A Strands agent that drives a Unitree G1+ humanoid. It runs on the robot's Jetson, speaks DDS to the motor bus, and turns every SDK call into a typed, safety-gated tool.

2 How you talk to it. One agent, four faces — REPL, voice, Telegram, dispatch. Say wave, walk forward 30cm, what do you see?, map this room. It plans, batches tool calls, and replies.

3 Why it's safe. Walking and posture are FSM-gated. The arm bus is mutex-locked. Raw motor publishes need unsafe=True. The robot refuses what it shouldn't do.

Start the tour →

flowchart LR
  U(["🗣️ you"]) -->|"voice · telegram · REPL"| A

  subgraph G1["🤖 Unitree G1+ · Jetson Orin"]
    direction TB
    A["🧠 neon<br/>strands · 53 tools"]
    C["⚙️ MCU controllers"]
    M["🦾 motors · arms<br/>audio · LEDs"]
    S[("👁️ lidar · imu<br/>bms · camera")]
    A -->|"DDS"| C --> M
    A -.->|"read-only"| S
  end

  classDef brain stroke:#cc5a3a,stroke-width:1.5px
  classDef io stroke:#2e8b8b,stroke-width:1.5px
  class A brain
  class C,M,S io

at a glance·
robot Unitree G1+ · 29 motors · 2 arms · Livox MID-360 lidar
compute Jetson Orin NX — agent runs on the robot
transport CycloneDDS over eth0 (no ROS)
tools 53 — state · posture · arm · audio · lidar · SLAM · DDS · vision
models Bedrock (default: Claude Opus) via NEON_MODEL_ID
surfaces REPL · voice (chest speaker) · Telegram · dispatch
safety FSM gating · arm mutex · velocity clamps · unsafe=True for raw publishes

  • Run it — clone, pick a model, wave hello. 60s.

  • See it — gestures, locomotion, the full request→motion pipeline.

  • Do it — copy-paste recipes: wave, walk, perceive, map, telegram.

  • Dig in — 53 tools, use_unitree, use_dds, safety, architecture.

everything else

Start · docker · systemd
Tools · catalog · use_unitree · use_dds · composed · sensing
Guide · safety · architecture · troubleshooting · cli · extending · strands-robots · WebXR teleop · voice
Reference · FSM + errors · DDS topics · joints · network

built with strands-agents · devduck · unitree_sdk2