Revo 2 Adaptation for Unitree G1

Overview

The Revo 2 dexterous hand can be mounted and integrated onto the Unitree G1 humanoid robot. The hand is controlled via serial port communication. This guide is provided for developers who need to adapt BrainCo dexterous hands to Unitree robotic platforms.

Video Demonstration

Code Repository

• Unitree G1 Adaptation Example Repository

Release Notes

2026-07-16

• Added the eeg brain-control task domain for G1-29 DOF. It integrates with the BrainCo brain-controlled robot training platform.
• Upper-limb motions do not lock the WaistRoll and WaistPitch joints. Use single-waist mode or add joint-locking logic before running them.

2026-06-29

• The startup flow now disables Unitree's built-in arm-control service before starting /arm_sdk control, preventing the two services from issuing conflicting upper-limb commands.

2026-06-08

• Added task-domain-based state management.
• Added the calibrate camera-calibration domain for G1-29 DOF.
• Added the simple arm-motion domain for G1-23 DOF and G1-29 DOF.
• Updated the ui_client remote-control UI and APIs.
• Updated the dexterous hand SDK in ros2_stark_ws.

Previous Versions

Version	Update	Description	Access
v2.0.0	2026.6	Current main baseline	main branch
v1.1.0	2026.4	Supports both G1-23 DOF and G1-29 DOF	v1.1.0_basic branch
v1.0.0	2025.11	Supports only G1-23 DOF	Releases v1.0.0

brainco_ws

The G1 arm Inverse Kinematics (IK) calculation is based on the Unitree official example Unitree/xr_teleoperate. Dual-arm and dual-hand controls are implemented using ROS 2.

• Main control: smach_main_srv.py
• State machine transition node: smach_trans_cli.py
• G1 Degrees of Freedom (DoF) can be configured in brainco_ws/src/control_py/config/smach_config.yaml.

ros2_stark_ws

The BrainCo hands communicate with Unitree G1 through dual RS-485 serial interfaces. A single ROS 2 node communicates with the left and right hands through /dev/ttyUSB0 and /dev/ttyUSB1, respectively.

• Stark ROS node: stark_node.cpp

The SDK examples have moved to brainco-hand-sdk. The old ros2_example branch is a historical dual-RS-485 reference. For G1 integration, use the Unitree repository and branch specified in this guide.

Contact & Support

For questions or purchase inquiries, contact the BrainCo Dexterous Hand Team or submit a support ticket through the page help entry.