G1 Robot Action Programming Operation Guide

Chapter 1: Basic System Operations

1.1 System Startup

Startup Steps

1. Open browser and navigate to G1 Robot Control Interface
2. Check the status bar at the top of the page:
   • Shows "Online": Robot connection normal, ready for operation
   • Shows "Offline": Connection lost, needs reconnection
3. If showing offline, click the Refresh Status button to reconnect

Figure 1-1: G1 Robot Control Main Interface

1.2 Interface Layout

The system interface contains the following areas from top to bottom:

┌─────────────────────────────────────┐
│          G1 Robot Control          │  ← Top Title Bar
├─────────────────────────────────────┤
│     Robot Status: Online/Offline    │  ← Status Display Area
│   [Refresh] [Voice Chat] [Voice Config] │  ← Function Button Area
├─────────────────────────────────────┤
│       [Stop] [Release] - Emergency Control │  ← Emergency Control Area
├─────────────────────────────────────┤
│            Select Action           │  ← Action Selection Area
│         [Search Box] [Action Dropdown] │
├─────────────────────────────────────┤
│ [Execute] [Edit] [Rename] [Upload Audio] │ ← Operation Button Area
├─────────────────────────────────────┤
│           Common Actions Table     │  ← Quick Operation Area
│  No.  |  Action Name  |  [Execute][Replace] │
├─────────────────────────────────────┤
│           Operation Guide Area     │  ← Help Description Area
└─────────────────────────────────────┘

1.3 Basic Control Buttons

Chapter 2: Action Selection and Execution

2.1 Select Action

Operation Steps

1. Find the dropdown menu in the "Select Action" area
2. Click the dropdown menu to display 118 available actions (Action001-Action118)
3. Click to select the desired action

Figure 2-1: Action Selection Dropdown Menu

2.2 Search Actions

The search function supports multiple ways to quickly locate actions:

Search Methods

• Action Name Search: Enter "handshake" to find actions containing that word
• Number Search: Enter "Action001" or "001" for quick positioning
• Fuzzy Matching: Enter "hand" to match "handshake action"

Operation Steps

1. Enter keywords in the search box
2. System automatically filters matching actions
3. Below displays "Found X actions" statistics
4. Select desired action from filtered results

Figure 2-2: Action Search Function Demo

2.3 Execute Action

Operation Steps

1. ✅ Ensure robot status shows "Online"
2. ✅ Select the action to execute
3. ✅ Click "Execute" button
4. ✅ Wait for action execution to complete

2.4 Modify Action Name

Operation Process

1. Select the action to modify
2. Click "Rename" button
3. Enter new name in popup window (max 20 characters)
4. Click "Confirm" to save

Figure 2-3: Modify Action Name Popup

Naming Suggestions

• Use descriptive names like "Handshake Greeting", "Dance Performance"
• Avoid special characters
• Recommend using descriptive language

2.5 Common Actions Quick Operations

Figure 2-4: Common Actions Quick Operation Area

Feature Highlights

• Quick Execution: No dropdown selection needed, direct click to execute
• Dynamic Replacement: Can change common action content anytime
• Number Display: Clear 1-10 numbering for easy identification
• Status Indication: Loading status display during execution

Execute Common Actions

Operation Steps:

1. Ensure robot status shows "Online"
2. Find the action to execute in the common actions table
3. Click the Execute button in the corresponding row
4. Wait for action execution to complete

Replace Common Actions

Operation Process:

1. Step 1: Select Replacement Position
   • Click the Replace button in the action row to be replaced
   • System pops up "Select Replacement Action" window
2. Step 2: Select New Action
   • Browse all available actions in the popup (e.g., Action11-Action118)
   • Click to select the action to replace
   • Click "Confirm Replace" button
3. Step 3: Confirm Replacement
   • System displays replacement details confirmation window
   • Check action information before and after replacement
   • Click "Confirm Replace" to complete operation

Figure 2-5: Replace Action Selection Window

2.6 Upload Audio Files

Supported Formats

• File Types: MP3, WAV and other common audio formats
• File Size: Maximum 30MB
• Purpose: Add voice prompts or background music to actions

Operation Steps

1. Select the corresponding action
2. Click "Upload Audio" button
3. Select audio file
4. Wait for upload to complete

Chapter 3: Action Editing Features

3.1 Enter Edit Mode

Operation Steps

1. Select the action to edit
2. Click "Edit" button
3. Wait for system to load action data
4. Edit window pops up

Figure 3-1: Action Edit Interface Overview

3.2 Edit Interface Overview

The edit window contains the following main areas:

Function Button Area

• Zero Torque: Let robot arms enter powerless state, supports simultaneous waist relaxation
• Manual Add: Manually get robot's current position to add action rows
• Auto Add: Automatically continuously get robot action data (up to 10 minutes)
• Confirm: Save edit results
• Import: Import action data
• Export: Export action data
• Show/Hide: Toggle display mode

Batch Operation Area

• Batch Yaw/Roll/Pitch: Batch adjust waist joints
• Batch Time: Uniformly adjust action speed
• Batch Sleep: Uniformly adjust action intervals
• Delete All: Clear all action data

Figure 3-2: Edit Function Button Area

3.3 Display Mode Toggle

Two Display Modes

• Click "Show"/"Hide" button to toggle
• Simple mode helps focus on core parameters
• Detailed mode provides complete control capability

3.4 Edit Joint Angles

Parameter Range Description

Editing Method

1. Click the value box to modify
2. Enter new value
3. System automatically validates range
4. Out of range values automatically adjusted to boundary values
5. Auto-format when losing focus
6. Note: Rotation angle = parameter value × radians, e.g., input 0.1, radians = 5.73°, input value 1.0, rotation angle = 57.3°

Figure 3-3: Parameter Edit Operation Demo

3.5 Arm Zero Torque Function

Operation Steps

1. Ensure robot is in standing position and online
2. Click Zero Torque button
3. System pops up zero torque mode selection window
4. Choose appropriate zero torque mode:
   • Arm Only Zero Torque: Only let arms enter powerless state, waist remains normal
   • Simultaneous Waist Relaxation: Both arms and waist enter zero torque state, waist can also rotate and tilt, but waist loses support force, requires human assistance for safety.

Figure 3-4: Arm Zero Torque Mode Selection Window

Two Mode Comparison

3.6 Manual Action Addition

Detailed Operation Steps

Step 1: Adjust Robot Posture

Recommended Method (Software Control):

1. Ensure robot is in standing position
2. Click Zero Torque button
3. Choose appropriate zero torque mode
4. Robot joints enter powerless state
5. Manually easily pose various required action postures

Alternative Method (Hardware Control):

1. Directly suspend robot (avoid falling)
2. Enter zero torque mode via remote control
3. Manually adjust robot to desired posture

Step 2: Record Current Position

1. After posing the action posture, click Manual Add button
2. System gets current robot's all joint positions
3. Verify data validity:
   • Arm joint angle parameters: Adjust according to arm joint rotation angle range, ensure safety
   • Actual rotation angle calculation: Parameter value × 57.3°
   • Example: Parameter value 0.1 = 5.73°, parameter value 1.0 = 57.3°
4. New row automatically added to table end

Step 3: Save Changes

1. After completing action addition, click Confirm button
2. System saves newly added action data

3.7 Auto Action Addition

Figure 3-5: Auto Add Action Function Popup

Feature Highlights

• Continuous Recording: About 600 action frames per minute, finely capturing action details
• Long Duration Support: Up to 10 minutes continuous recording, supporting complex action sequences
• Real-time Countdown: Clearly displays remaining recording time
• Safety Protection: Popup cannot be closed during recording, preventing misoperation
• Auto Stop: Automatically stops after timeout

Detailed Operation Process

Step 1: Preparation

1. Ensure robot status is "Online"
2. Select the action file to edit
3. Click "Edit Action" to enter edit interface
4. Click Auto Add button
5. System pops up confirmation dialog, click "Confirm" to clear current data

Step 2: Start Recording

1. Auto add popup appears, showing current action and robot status
2. After confirming all information is correct, click Start Auto Add button
3. System starts 10-minute countdown
4. Start executing robot actions, system automatically records:
   • About 10 action frames per second (1 minute ≈ 600 frames)
   • Records all joint positions and angles
   • Real-time display of progress bar and remaining time

Step 3: Stop Recording

Auto Stop:

• Automatically stops when 10-minute countdown ends
• Displays "10 minutes time up, auto add stopped" prompt

Manual Stop:

• Click Stop Auto Add button
• System immediately stops recording

Step 4: View Results

1. After recording ends, close popup
2. Enter edit interface
3. View recorded action data:
   • Each row represents one action frame
   • Contains complete 19 parameters
   • Can view parameters, but not recommended to modify parameters

Recording Interface Details

Application Scenarios and Suggestions

Applicable Scenarios:

• 🕺 Dance Actions: Record complete dance sequences
• 🤝 Continuous Gestures: Complex gesture combination actions
• 🎭 Performance Actions: Dramatic continuous performances
• 🏃 Sports Actions: Gymnastics, martial arts and other sports sequences

Operation Suggestions:

• Practice actions before recording to ensure smoothness
• Control action amplitude, avoid excessive joint angles
• Maintain stable action rhythm
• Ensure safe recording environment, avoid interference

3.8 Copy Action Rows

Operation Steps

1. Click the Copy button in the target row
2. Choose copy position in the popup dialog:
   • Add to End: Append to the end of the table
   • Copy to Next Row Below: Insert to current row + 2 position, e.g., ABCD four rows, click row A to copy, then insert to row C position, becomes ABACD
3. After copying is complete, click Confirm button to save

Usage Scenarios

• Create repeated action sequences
• Create variants based on existing actions
• Quickly build complex action combinations

3.9 Delete Action Rows

Operation Steps

1. Click the Delete button in the target row
2. Select "Delete" in the confirmation dialog
3. Row is removed from the table
4. After completing deletion, click Confirm button to save

3.10 Save Changes

Unified Save Process

1. After completing any editing operation, click Confirm button
2. System validates data integrity (check parameter ranges)
3. Save data to server
4. Display "Action data saved successfully" prompt
5. Edit window closes, return to main interface

Save Considerations

• Must Save: All editing operations need to be saved to take effect
• Data Validation: System checks parameter validity before saving
• Backup Recommendation: Important actions recommend exporting backup first
• Network Requirement: Saving requires robot online status

Figure 3-6: Save Success Prompt

Chapter 4: Data Management

4.1 Batch Operations

Batch Modify Execution Time

Operation Steps:

1. Click "Batch Time"
2. Enter time value (e.g., 2.0)
3. Click "Confirm" to apply to all rows

Usage Scenarios:

• Overall speed up or slow down action speed
• Unify action rhythm
• Batch adjust action smoothness

Batch Modify Sleep Time

Operation Steps:

1. Click "Batch Sleep"
2. Enter millisecond value (e.g., 1000)
3. Click "Confirm" to apply to all rows

Practical Applications:

Batch Modify Waist Joints

Figure 4-1: Batch Modify Waist Joints Popup

Batch Delete Operations

Safe Delete Process:

1. Click "Delete All" button
2. System displays warning confirmation box
3. Confirm "This operation cannot be undone" prompt
4. Click "Confirm Delete" to clear all data

4.2 Data Import/Export

Import Data

Figure 4-2: Data Import Operation Interface

Operation Steps:

1. Click "Import" button
2. Select CSV format file
3. System automatically parses and replaces current data
4. Display import success prompt

Export Data

Operation Steps:

1. Click "Export" button
2. System generates CSV file
3. File name format: {action_name}_data.csv
4. Automatically download to local

File Format Requirements

Basic Requirements:

• File Type: CSV format
• Encoding: UTF-8
• Columns: 19 columns of data

CSV File Format Example:

Left Shoulder Pitch,Left Shoulder Roll,Left Shoulder Yaw,Left Elbow,Left Wrist Roll,Left Wrist Pitch,Left Wrist Yaw,Right Shoulder Pitch,Right Shoulder Roll,Right Shoulder Yaw,Right Elbow,Right Wrist Roll,Right Wrist Pitch,Right Wrist Yaw,Waist Yaw,Waist Roll,Waist Pitch,Execution Time,Sleep Time
0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,2.0,1000
0.5,0.2,0.3,1.0,0.0,0.0,0.0,-0.5,-0.2,-0.3,-1.0,0.0,0.0,0.0,0.2,0.0,0.1,1.5,500

Export Purposes

• 📁 Backup Data: Save action design results
• 🔄 Data Sharing: Exchange actions with other developers
• 📋 Version Management: Maintain different versions of actions
• 📊 Batch Editing: Process data in tools like Excel

Chapter 5: Voice Configuration

5.1 Open Voice Configuration

Operation Steps

1. Ensure robot is online
2. Click "Voice Config" button
3. System loads current configuration

Figure 5-1: Voice Configuration Interface

5.2 Configuration Parameters

API Key Configuration

• Purpose: Voice service authentication key
• Requirement: Valid API key
• Length Limit: Maximum 100 characters
• Obtain Method: Contact technical support

Role Definition

• Purpose: Define the robot's voice interaction role
• Format: Natural language description
• Length Limit: Maximum 5000 characters
• Example:

  You are a friendly robot assistant who can execute various action commands.
  You will communicate with users in a gentle tone and accurately understand users' action needs.

Voice Type Selection

Enable Voice Prompts

• Purpose: Robot's greeting when starting up
• Length Limit: Maximum 200 characters
• Examples:
  • "Hello, I am G1 robot, ready to serve you"
  • "Welcome to G1 robot system, please tell me what you need me to do"
  • "I am Xiaoxin, Yaomei's boyfriend, now you can talk to me."

5.3 Save Configuration

Save Process

1. Fill in all required fields
2. Click "Save" button
3. Wait for save completion prompt

Configuration Validation

System will automatically validate:

• ✅ API Key format correctness
• ✅ Field length limits
• ✅ Required field completeness

Chapter 6: Common Issues

6.1 Connection Issues

Problem: Robot Shows Offline Status

Figure 6-1: Robot Offline Status Display

Solutions:

1. Check Network Connection
   • Confirm Wi-Fi connection is normal
   • Confirm phone and robot are connected to the same Wi-Fi
   • Test network latency and stability
   • Check firewall settings
2. Restart Service
   • Click "Refresh Status" button
   • Wait for system to reconnect
   • Observe status changes
3. Check Robot Status
   • Confirm robot power is on
   • Check robot network configuration
   • Verify IP address settings

6.2 Action Execution Issues

Problem: Action Execution Fails or Abnormal

Diagnostic Steps:

1. Check Parameter Validity
   • Verify joint angle ranges (according to key angle ranges)
   • Confirm execution time settings (≥0.1 seconds)
   • Check sleep time settings (≥0 milliseconds)
2. Analyze Error Information
   • Check browser console error logs
   • Check API return status
   • Record error occurrence time
3. Step-by-step Testing
   • Test each action individually
   • Verify action sequence completeness
   • Try simplifying action parameters

6.3 Editing Issues

Problem: Cannot Modify Values

Solutions:

1. Confirm input values are within valid range
   • Arm joints: Actual parameters should be adjusted according to robot arm rotation range
   • Waist yaw: -1.0 to 1.0
   • Waist roll/pitch: -0.3 to 0.3
2. Check Network Connection Status
   • Confirm robot is online
   • Test network stability
3. Refresh Page and Retry
   • Save current work
   • Refresh browser page
   • Re-enter edit mode

6.4 File Operation Issues

Problem: Import/Export Fails

Check Items:

1. File Format Validation
   • Confirm CSV format is correct
   • Check file encoding is UTF-8
   • Verify data completeness (19 columns)
2. Permission Check
   • Confirm file access permissions
   • Check sufficient storage space
   • Verify file is not occupied
3. Data Validation
   • Confirm value ranges are correct
   • Check required fields are complete
   • Verify data format consistency

Appendix: Quick Operation Process

Quick Start for Beginners

Basic Operation Process

Operation Steps:

1. Execute Action → Confirm Robot Online → Select Action → Execute Action
2. Quick Execute → Common Actions Area → Click Execute
3. Replace Common Action → Click Replace → Select New Action → Confirm Replace
4. Modify Action Name → Select Action → Modify Name → Save
5. Manual Edit → Select Action → Edit → Manually Add/Copy/Delete Action Rows → Modify Parameters → Save
6. Auto Record → Select Action → Edit → Auto Add → Start Recording → Stop Recording → Save

Recommended Parameters

Execution Time Recommendations

Sleep Time Recommendations

Safety Operation Checklist

Pre-operation Check

• ✅ Ensure safe environment around the robot
• ✅ Check robot connection status is normal
• ✅ Verify action parameters are within safe range
• ✅ Know the location of emergency stop button

Operation Precautions

• ✅ Monitor robot execution status
• ✅ Avoid joint angles approaching limit values
• ✅ Click stop button immediately in emergency situations
• ✅ Test complex actions before execution

Post-operation Maintenance

• ✅ Regularly backup important action data
• ✅ Clean up temporary and test data
• ✅ Update action library documentation
• ✅ Summarize operation experience and issues

Technical Support

Issue Feedback Information

If you encounter technical issues, please collect the following information to contact technical support:

• 📋 Error Message: Complete error message content
• 📝 Operation Steps Details: Specific operations before the issue occurred
• 🤖 Robot Status Information: Online/offline status and connection information
• 🌐 Browser Information: Browser type and version number
• ⏰ Issue Occurrence Time: Specific time point
• 📸 Interface Screenshot: Interface state when the issue occurred

Contact Information

• 📧 Technical Email: 659854670@qq.com
• 📞 Technical Hotline: 13548113202

Conclusion

This operation guide covers the core functions and latest features of the G1 robot system. By following this guide, you can:

• 🎯 Quick Start: Master basic system operations and interface usage
• ⚡ Efficient Operation: Use common actions area to quickly execute and manage actions
• 🎨 Create Actions: Design complex action sequences through manual addition and auto recording
• 🤖 Precise Control: Master advanced functions of arm zero torque and waist control
• 📊 Data Management: Efficiently process and maintain action data
• 🔧 Problem Solving: Independently handle common technical issues

Learning Recommendations

• Beginners: Start with basic operations and common actions area, familiarize with interface and quick operations
• Intermediate Users: Focus on learning manual action addition, editing functions and batch operations
• Advanced Users: Master auto recording functions and advanced zero torque control, can directly refer to relevant chapters
• Professional Users: Deeply learn the 10-minute recording function of auto add actions, create complex action sequences