# Go1 Unitree Robot Fleet Status Report

## Fleet Overview

<style>
.functional { background-color: #d4edda; }
.faulty { background-color: #ffe6cc; }
.critical { background-color: #f8d7da; }
</style>

<table>
<thead>
<tr>
<th>Robot ID</th>
<th>Current Issue</th>
<th>Issue History</th>
<th>Severity</th>
</tr>
</thead>
<tbody>
<tr class="functional">
<td>GO511352A</td>
<td>None</td>
<td>None</td>
<td>✅ Functional</td>
</tr>
<tr class="functional">
<td>GO513605A</td>
<td>None</td>
<td>None</td>
<td>✅ Functional</td>
</tr>
<tr class="functional">
<td>GO518087A</td>
<td>None</td>
<td>None</td>
<td>✅ Functional</td>
</tr>
<tr class="functional">
<td>GO505885A</td>
<td>None</td>
<td>Bottom right leg: motor overrotation with wire entanglement</td>
<td>✅ Functional</td>
</tr>
<tr class="functional">
<td>GO506699A</td>
<td>None</td>
<td>Top right leg: motor overrotation with wire entanglement</td>
<td>✅ Functional</td>
</tr>
<tr class="faulty">
<td>GO516194A</td>
<td>Diagnostics report: Faulty Motor 5</td>
<td>Diagnostics report: Faulty Motor 5</td>
<td>⚠️ High</td>
</tr>
<tr class="faulty">
<td>GO513814A</td>
<td>Diagnostics report: Faulty Motor 7</td>
<td>Diagnostics report: Faulty Motor 7</td>
<td>⚠️ High</td>
</tr>
<tr class="critical">
<td>GO530514A</td>
<td>OS not found</td>
<td>OS not found</td>
<td>🔴 Critical</td>
</tr>
<tr class="critical">
<td>GO356068A</td>
<td>OS not found</td>
<td>OS not found</td>
<td>🔴 Critical</td>
</tr>
</tbody>
</table>

---

## Faulty Robot Details

---

### GO516194A - Faulty Motor 5 (Does not stand; enters DAMP)
**Status:** <span style="background:#fff3cd;color:#856404;padding:2px 10px;border-radius:999px;font-weight:700;">High (Faulty Motor)</span>

#### Observed Symptoms
- Robot **does not stand up**.
- The robot transitions into **DAMP mode** (protective behavior) due to the faulty motor.

#### Reproduction / Commands Used

# Connect to robot

# Check the sportMode log for details
cat ~/Unitree/autostart/sportMode/log

# Start the motion controller
cd ~/Unitree/autostart/sportMode
sudo ./bin/Legged_sport &

# Then press L1 + START on the controller or L2 + A

# View the log showing the error
cat ~/Unitree/autostart/sportMode/log

#### Evidence (sportMode log)
- Log indicates: **Motor 5 is faulty**
- DAMP-related line appears (protective):
- `[...] [EM_DAMP]: Some joint may get stuck ...`

#### Evidence (Diagnostics + Video)
- Diagnostics screenshot:

- Video (Google Drive): [Issue](https://drive.google.com/file/d/1w-kO4Z71mfYW6cKfnbtvG78Bj-q05s2S/view?usp=sharing)

#### Physical Inspection Notes (Manual leg movement)
- The suspected faulty motor/joint **feels different** when moving the leg manually:
- noticeably different **tension / friction**
- produces a **different sound/noise** compared to healthy motors

---

### GO513814A - Faulty Motor 7 (Does not stand; enters DAMP)
**Status:** <span style="background:#fff3cd;color:#856404;padding:2px 10px;border-radius:999px;font-weight:700;">High (Faulty Motor)</span>

#### Observed Symptoms
- Robot **does not stand up**.
- The robot transitions into **DAMP mode** due to the faulty motor.

#### Reproduction / Commands Used

# Connect to robot

# Check the sportMode log for details
cat ~/Unitree/autostart/sportMode/log

# Start the motion controller
cd ~/Unitree/autostart/sportMode
sudo ./bin/Legged_sport &

# Wait for: "[Wait] for trigger: SDK or L1 + start"
# Then press L1 + START on the controller

# View the log showing the error
cat ~/Unitree/autostart/sportMode/log

#### Evidence (sportMode log)
- Log indicates: **Motor 7 is faulty**
- Key line observed:

[EM_DAMP]: Some joint may get stuck7

#### Evidence (Diagnostics + Video)
- Diagnostics screenshot (attach/embed here):

- Video (Google Drive): Same as GO516194A

#### Physical Inspection Notes (Manual leg movement)
- The suspected faulty motor/joint **feels different** when moving the leg manually:
- different **tension / friction**
- **different noise** compared to healthy motors

---

### GO530514A - OS Not Found (CM4 boot failure; robot does not stand)
**Status:** <span style="background:#f8d7da;color:#721c24;padding:2px 10px;border-radius:999px;font-weight:700;">Critical</span>

#### Observed Symptoms
- Robot **does not stand up**.
- Motors appear **unpowered**: when the robot is powered on, the joints/motors show **no holding resistance** (unlike functional robots where the motors “engage” and resist manual movement).
- **No hotspot / Wi‑Fi AP** is visible from this robot.

#### Evidence (HDMI output from CM4)
When the Go1’s Raspberry Pi/CM4 is connected to HDMI, it shows a bootloader screen indicating **no bootable storage**:


Key lines observed:

Raspberry Pi Compute Module 4 - 2GB
SD: card not detected
PCIe timeout: ...
Failed to open device: 'nvme'
USB MSD timed out after 25 seconds
Boot mode: NETWORK ... wait for link TFTP: 0.0.0.0

#### Video Evidence
- Video showing robot state / “no motor power” behavior: [Video](https://drive.google.com/file/d/1QfXssTGMJ8Erghf62NjunLFFnAJr_mnX/view?usp=sharing)

#### Interpretation
- The CM4 bootloader is running, but it **cannot find bootable storage** (microSD and/or eMMC), so it falls back to **network boot**.

#### Proposed Next Steps (and questions for Unitree Support)
1) **Confirm storage type for these Go1 units (microSD vs eMMC):**
- Are these Education Go1 computers expected to boot from **microSD** on the carrier board, or from **CM4 eMMC**?

2) **Non‑invasive recovery attempt (if eMMC is present):**
- Can we use the exposed USB (OTG) + `rpiboot` to detect CM4 storage on a PC and reflash?
- If yes, please share the **official Go1 OS image** (or a verified checksum + flashing instructions).

3) **If microSD is used (or if eMMC does not appear via `rpiboot`):**
- Should we **open the compute bay** and **re-seat the microSD card / CM4 module** (in case of a loose connection)?
- If SD is missing/corrupted, should we reflash the microSD externally with the official image?

4) **Community image question (needs confirmation):**
- We found a community forum thread describing the same “SD card not detected / OS not found” boot screen, and a user shared a `.zip` image of the Unitree OS + ROS stack.
- **Can Unitree confirm whether this image is legitimate and safe to flash**, or provide the correct official image instead?
- Reference: https://forum.mybotshop.de/t/unitree-go1-failed-raspberry-boot-no-sd-card-found/802/7

---

### GO356068A - OS Not Found (CM4 boot failure; robot does not stand)
**Status:** <span style="background:#f8d7da;color:#721c24;padding:2px 10px;border-radius:999px;font-weight:700;">Critical</span>

#### Observed Symptoms
- same as GO530514A

#### Evidence (HDMI output from CM4)
- same as GO530514A

#### Interpretation
Same as GO530514A: CM4 is not booting into the Unitree OS because boot storage is missing / not detected / corrupted.

#### Proposed Next Steps
Same as GO530514A

---

## Summary

| Status | Count |
|--------|-------|
| ✅ Functional | 5 |
| ⚠️ Faulty Motors | 2 |
| 🔴 Critical - No OS | 2 |
| **Total** | **9** |