neon-the-g1 0.1.1

NEON — a Strands agent driving a Unitree G1+ : vision · language · action, fusing live DDS control with strands-robots sim + VLA policies.

neon

Strands agent driving a Unitree G1+ · vision · language · action · on the edge

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🎙 user (voice):  "hey, what can you do?"
🤖 neon (chest):  "I can move, do hand gestures, look around with cameras,
                   read battery, run SLAM... what do you want to try?"
🎙 user (voice):  "wave at me"
    → g1_arm_action(action_id=26)   rc=0 · released
🤖 neon (chest):  *waves*

💬 telegram /state
🤖 mode=ai FSM=501 (Walk) arm_ready=True battery=80% 52V

NEON is one agent with four personas - REPL, voice, telegram, dispatch - all sharing the same memory, the same toolset (53 robot tools + memory + telegram

• voice_say + take_photo + dispatch + use_github + ...), and the same cross-persona log. Talk to it via the chest speaker, DM it on Telegram, or make run for a REPL - they all see what the others are doing.

🎬 see it move

🕹 arm the G1 (enable control) Switch to walk/control mode in the Unitree app — required before the robot can move.	👋 wave (dashboard) Trigger a hand gesture straight from the cockpit dashboard.
🚶 walk forward (voice) Strands bidirectional speech-to-speech → g1_move_velocity → the G1 steps forward.	🔙 walk backward (voice) Same voice loop, reverse — spoken command drives locomotion in real time.

🎥 Full-resolution MP4s: arm · wave · forward · backward

⚡ run

cp .env.example .env && $EDITOR .env   # OPENAI_API_KEY + AWS_BEARER_TOKEN_BEDROCK + TELEGRAM_BOT_TOKEN
make run                               # docker compose up + REPL + auto-start voice
make down                              # stop

make run boots the agent and auto-starts bidirectional voice (g1_speak) - Brio mic → AEC → OpenAI Realtime → G1 chest speaker. Set NEON_NO_SPEECH=1 to skip.

🛰 deploy - full stack in docker, boots on power-on

The whole stack runs as docker containers and starts automatically at boot via one systemd user unit (neon-compose.service → docker compose up -d):

cp .env.example .env && $EDITOR .env      # secrets: AWS_BEARER_TOKEN_BEDROCK, OPENAI_API_KEY, TELEGRAM_BOT_TOKEN, TELEGRAM_DEFAULT_CHAT_ID
make build                                # build the neon image (bakes deps + dashboard UI)
docker compose up -d                      # agent + dashboard + telegram + thinker

# install the boot unit (survives reboot; linger must be on)
cp scripts/systemd/neon-compose.service ~/.config/systemd/user/
loginctl enable-linger "$USER"
systemctl --user daemon-reload && systemctl --user enable --now neon-compose.service

Containers (docker compose up -d):

container	role
neon-agent	REPL agent (base image, DDS on eth0)
neon-dashboard	UI + cameras + agent chat @ https://<host>:8080 - single camera owner
neon-telegram	Telegram DM listener → agent replies (waves, photos, robot control)
neon-thinker	30s heartbeat → telegram (photo + LED/gesture + status)

Camera sharing: the dashboard is the sole owner of the USB cameras (V4L2/RealSense are single-open). The thinker + telegram pull frames from the dashboard's snapshot API via NEON_CAMERA_PROXY - so everyone sees the same feed without fighting the device.

🖥 dashboard - passkey-gated cockpit

https://<host>:8080 (self-signed HTTPS - needed for WebAuthn). First visit shows "Seal this robot with a passkey": tap → Touch/Face ID → the whole interface + agent are locked to your device. Later visits unlock with the passkey. The ⚙ config drawer lets you switch model id, edit .env (secrets masked), pick WiFi, and manage passkeys - all live.

make auth-status        # show enrolled passkeys / setup state
make auth-clear         # wipe passkeys → reopens setup (auto-refreshes service token)
make token-refresh      # re-sync the camera-proxy service token into .env

Open via a hostname (e.g. https://neon.local:8080 or the Cloudflare tunnel) - WebAuthn refuses raw IPs as the relying-party id.

📶 networking - always reachable

• Robot DDS link: eth0 = 192.168.123.164 (static; the robot MCU is 192.168.123.161). Never changes, never touched by WiFi tooling.
• Companion WiFi: wlan0 (DHCP). Reach the device at ubuntu.local (mDNS/avahi) from any network - the IP may change, the hostname won't.
• Auto-fallback hotspot: if wlan0 loses all known networks, NEON auto-connects a low-priority fallback profile neon_net (create this hotspot on your phone, password 1234567890). A systemd watchdog (neon-wifi-watchdog.timer, every 60s) force-connects it if NM gets stuck - so the robot is always reachable and you can re-pick WiFi from the dashboard.

make wifi                     # interactive: scan → pick → password
make wifi SSID=x PASS=y       # non-interactive
make wifi-status / wifi-scan  # inspect

# install the wifi watchdog (fallback to neon_net hotspot)
sudo cp scripts/systemd/neon-wifi-watchdog.{service,timer} /etc/systemd/system/
sudo systemctl daemon-reload && sudo systemctl enable --now neon-wifi-watchdog.timer

🎙 voice + 💬 telegram (lookout-style stack)

Beyond the REPL, NEON has two always-on listeners that share memory + tools with the REPL agent:

make voice                             # bidi voice (Brio mic → G1 chest speaker)
make tg                                # telegram bot (multi-turn + /mute /state /battery)
make mute / unmute                     # silence the voice agent live
make voice-push MSG="hi neon"          # inject a briefing for the voice persona to speak
make log-show                          # last 30 cross-persona turns
make ask Q="what's our battery?"       # one-shot REPL query

Cross-persona awareness: when telegram receives a message, it's pushed to voice_bridge so the voice agent hears about it as a [BRIEFING] and can respond aloud. The voice agent's transcripts go into agent_log so the telegram persona sees what was said. All three personas share .memory/mem.db.

🧰 toolkit

bundle	what
motion (FSM-safe)	g1_arm_action, g1_move_velocity, g1_safe_*, g1_set_fsm
state (DDS)	g1_get_state, g1_battery, g1_lidar_*, g1_slam_*
sensing	use_camera, g1_speak, g1_play_wav, g1_asr, take_photo (bidi)
cross-persona	memory, voice_say, telegram, dispatch, agent_log
escape hatches	use_unitree (any SDK method, AST-verified) · g1_dds_*

53 robot tools + 14 lookout-stack tools. → catalog

🧩 strands-robots - sim + VLA policies (two layers, one agent)

NEON fuses two control layers via neon():

• Layer 1 - live DDS (tools/): FSM-gated arms/walk/posture, chest-speaker voice, LiDAR/SLAM, memory/telegram/dispatch - real-time control ON the robot.
• Layer 2 - strands-robots Robot("g1"): MuJoCo sim (safe default), VLA policies (GR00T/Cosmos/ACT), dataset recording + training, Zenoh fleet mesh, and mode="real" LeRobot driver.

from strands import Agent
from neon import neon

agent = Agent(tools=neon(mode="sim"))         # 63 tools: DDS + voice + sim
agent("create a world with the g1, run the mock policy for 30 steps")

# real hardware: policy joint-stream + live DDS gestures in one agent
agent = Agent(tools=neon(mode="real", robot_ip="192.168.123.161"))
agent("wave hello, then walk forward 0.3 m")

call	drives NEON via
Robot("g1")	MuJoCo simulation (safe)
Robot("g1", mode="real")	G1 joints via LeRobot driver + a policy
tools/ DDS tools	the live controller (FSM/arms/walk/voice)
neon()	both

pip install -e ".[sim]"          # dev box (sim + policy)
pip install -e ".[all]"          # + voice + lerobot + mesh
neon "stand up and wave"          # CLI wrapper around Agent(tools=neon())

→ full design: docs/guide/strands-robots.md

🥽 WebXR Teleop - drive the G1 from a Meta Quest 3

No APK, no sideload. A self-contained WebXR page in the Quest 3 browser tracks your hands / controllers / head and shows the robot's stereo camera in your headset (VR immersive or AR passthrough), streaming poses to a bridge on the robot which runs IK and drives the arms over DDS.

make xr-cert                       # self-signed TLS (WebXR needs HTTPS)
make xr-teleop ARM=G1_29 IFACE=eth0   # start bridge (IK→DDS)
make xr-teleop-dry                 # dry-run: stream poses, no robot
# then on the Quest: open https://<robot-ip>:8013/ → "Enter XR & Teleop"

Quest 3 → docs/teleop/index.html (native WebXR) → Vuer-compatible column-major SE(3) pose stream over WSS → neon.teleop.xr_bridge → televuer WORLD→robot transform → xr_teleoperate IK → G1 arm DDS.

Pinch (hands) or trigger (controllers) closes the gripper; controller mode adds thumbstick walking (right-A = stop). Built on unitreerobotics/xr_teleoperate.

→ full guide: docs/guide/webxr-teleop.md

🛡 safety

• walking needs FSM ∈ {501, 801}; gate refuses otherwise
• arm actions auto-release + mutex on rt/armsdk (no parallel calls - rc=7400)
• FSM 0 (ZeroTorque) collapses the robot - via g1_set_fsm(0), gantry-only (no dedicated tool)
• g1_safe_* posture tools refuse if FSM=None (dead controller - needs physical recovery)
• battery < 15% → motion tools refuse

→ safety model

🧬 extend

# tools/g1_mytool.py - hot-reloadable, no restart needed
from strands import tool
from ._g1_common import ensure_dds, get_loco_client, decode_code

@tool
def g1_mytool(param: int = 0, network_interface: str = "eth0") -> dict:
    """One-line intent the LLM reads."""
    if err := ensure_dds(network_interface):
        return {"status": "error", "content": [{"text": err}]}
    rc = get_loco_client().SomeMethod(param)
    return {"status": "success" if rc == 0 else "error",
            "content": [{"text": f"rc={decode_code(rc)}"}]}

Export from tools/__init__.py. → extending guide

🔌 MCP server — drive NEON from Claude Code / Desktop / Cursor

Expose the full NEON toolset (53 FSM-gated G1 robot tools + memory + telegram + voice_say + take_photo + dispatch) over the Model Context Protocol, so any MCP client can drive the robot:

# zero-install via uvx (recommended — no venv needed)
uvx --from neon-the-g1 neon-mcp --safe        # stdio, no walking (recommended)
uvx --from neon-the-g1 neon-mcp --http --port 8022   # HTTP multi-client

# or pip-installed
pip install "neon-the-g1[mcp]"
neon-mcp                       # stdio (Claude Code / Desktop) — default
neon-mcp --safe                # drop locomotion (no walking) — recommended
neon-mcp --http --port 8022    # HTTP multi-client
neon-mcp --no-robot            # cross-persona stack only (no DDS)

Claude Code: claude mcp add neon -- uvx --from neon-the-g1 neon-mcp --safe

Claude Desktop:

{"mcpServers": {"neon": {"command": "uvx", "args": ["--from", "neon-the-g1", "neon-mcp", "--safe"]}}}

⚠️ Without --safe, the remote client can invoke locomotion — the robot can walk. Run on a gantry / clear space and read AGENTS.md safety rules first. Same shim technique as strands-transformers, built on strands-mcp-server.

📚 more

• make help - full target list (47 verbs)
• AGENTS.md - architecture, FSM/DDS deep-dive, debug logs
• docs/voice-architecture.md - voice signal chain + tuning
• tests/ - make test runs them all (no robot needed for CI)
• docs - everything else
• robot SSH @ 192.168.1.175 · DDS controller @ 192.168.123.161 (eth0)

🚦 status

component	status	notes
🤖 robot DDS	✅ live	FSM gating, all 53 tools verified against on-robot SDK
🎙 voice (bidi)	✅ live	OpenAI Realtime, AEC clean, English + multilingual
💬 telegram	✅ live	multi-turn + slash commands + photo/voice relay
🦴 SLAM (kiss-icp)	✅ live	optional, runs on Jetson
🐳 docker stack	✅ live	librealsense + pyrealsense2 from source on aarch64
🛰 systemd	✅ live	neon-voice + neon-telegram units, journal logs

🙏 built on

strands-agents · devduck · unitree_sdk2_python · CycloneDDS · OpenAI Realtime

MIT license.