About this guide

This guide documents srinivas (sri299792458)’s summer work with the Unitree G1. The aim was to understand the robot’s capabilities and limitations, then build tools and procedures that other researchers could extend: control ownership, calibration, grasping, planning, sensing and recording.

Much of the useful knowledge came from iteration on hardware. A working code path alone does not explain a cable choice, a failed handoff, a camera movement or a command that differs from the measured joints. The guide keeps those lessons next to the subsystem they affect.

The earlier SPARK documentation provided the reference for practical depth. The source catalog records upstream attribution, source availability and the limits of this draft. The guide remains a working draft for review and extension by future lab members.

The personal repository preserves the author’s work. A future lab copy should retain the history and attribution while allowing new members to update the procedures. See maintenance for that handoff.