westonrobot · timothy-weston · Sep 24, 2025 · Sep 23, 2025 · Sep 23, 2025 · Sep 24, 2025
diff --git a/README.md b/README.md
@@ -46,13 +46,13 @@ npm -v
 Set up the development repository and install dependencies.
 
 ```bash
-$ cd <this-repository>
-$ npm install 
-$ npm run build
+cd <this-repository>
+npm install 
+npm run build
 ```
 
 Then you can build and serve the documentation locally.
 
 ```bash
-$ npm run start
+npm run start
 ```
diff --git a/robot/humanoid/g1.md b/robot/humanoid/g1.md
@@ -12,34 +12,51 @@ The G1 is a humanoid robot that stands 130 cm tall and weighs 35 kg. It comes eq
 
 ## 2. Specifications
 
-### 2.2 Electrical Interfaces
+### 2.1 Electrical Interfaces
 
 ![](../img/unitree/G1_electrical_interfaces.jpg)
 
 ![](../img/unitree/G1_electrical_interfaces_gpio.jpg)
 
 > **Note**: There are many ways to operate NVIDIA GPIO, refer to this [link](https://docs.nvidia.com/jetson/archives/r35.2.1/DeveloperGuide/text/HR/JetsonModuleAdaptationAndBringUp/JetsonOrinNxSeries.html#identifying-the-gpio-number) for the definition.
 
-### 2.3 On-board Computer
+### 2.2 On-board Computer
 
-G1 Edu has 2 onboard computers:
+G1 Edu has 2 built-in computers:
 
 - Operation & Control computing unit (Not accessible to public)
     - IP: 192.168.123.161
 
 - User development computing unit
     - IP: 192.168.123.164
     - Username: unitree
-    - Password: Unitree0408
+    - Password: 123
 
 ## 3. Resources
 
-### Basic Guides
+* **Training Slides**: [G1 Basic Training](https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EYW7e2v3tL1DtCeW-HGdQo8BlBn-CkYQve05OhJDlS7xcA?e=5kJQpt)
+* **Unitree Support Page**: [Unitree](https://support.unitree.com/home/en/G1_developer)
+* **C++ SDK**: [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2)
+* **Python SDK**: [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python)
+* **ROS2 Package**: [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2)
+* **G1 App, Robot Features, Tutorial Videos, Manuals**: [G1 Features](https://www.unitree.com/app/g1) 
+* **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/G1_developer/get_sdk)
+* **Tutorials Page**: [Guides](/tutorial/intro)
 
-* G1 Manual: [Unitree](https://support.unitree.com/home/en/G1_developer)
-* Training Slides: [G1 Basic Training](https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EYW7e2v3tL1DtCeW-HGdQo8BlBn-CkYQve05OhJDlS7xcA?e=5kJQpt)
+## 4. FAQ
 
-### Development
+1. **Can the robot stand on its own?**   
+    A: From a lying position, the G1 can stand on its own. However, this mode is not recommended as it may damage the joints from excessive use and the robot may fall on smooth floors. It is recommended to have the robot stand from a seated or hanging position instead. 
 
-* SDK Support: [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2)
-* ROS2 Support: [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2)
+2. **Q: Does the robot support wireless development?**   
+    A: The robot's internal development PC can connect to WiFi networks for internet access (see [G1 Internet Access Guide](/tutorial/unitree/g1_internet_guide)), but it does not support wireless development.
+
+3. **Q: Is the robot waterproof?**   
+    A: No, the G1 is not waterproof.
+
+4. **Q: How often do I need to lubricate the joints?**  
+    A: If you encounter motor issues, stiffness or loosening of joints, please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl).
+    The *Serial Number (SN)* of the robot is located in the battery compartment. The SN (and the *Model*) can also be found in the app in `Device -> Robot Settings`.
+
+5. **Q: What happens when the robot rolls over/falls and does not respond to remote control commands?**   
+    A: Check and screenshot the mobile app for any warnings or errors displayed. Power off the robot and carry the robot to a flat and levelled ground. Inspect the robot for any damages (e.g., loose/damaged wiring). Please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl) if the robot is unable to be powered on or start up.
diff --git a/robot/img/unitree/Go2_electrical_interfaces.png b/robot/img/unitree/Go2_electrical_interfaces.png
diff --git a/robot/img/unitree/Go2_expansion_dock_specs.png b/robot/img/unitree/Go2_expansion_dock_specs.png
diff --git a/robot/img/unitree/Go2_simcard_slot.png b/robot/img/unitree/Go2_simcard_slot.png
diff --git a/robot/intro.md b/robot/intro.md
@@ -69,7 +69,7 @@ You can find more detailed information about each robot model in the navigation
     <div className="col col--6">
         <div style={{ textAlign: 'center' }}>
             <img src={H1_2_IMG} alt="H1-2 robot" style={{ height: 200 }} />
-            <p><a href="humanoid/h1-2">B2</a></p>
+            <p><a href="humanoid/h1-2">H1-2</a></p>
         </div>
     </div>    
 </div>

diff --git a/robot/quadruped/b2.md b/robot/quadruped/b2.md
@@ -3,34 +3,263 @@ sidebar_position: 2
 ---
 
 import B2_IMG from '../img/unitree/B2_robot.png';
+import B2_4PIN_IMG from '../img/unitree/B2_4_pin.png';
+import B2_10PIN_IMG from '../img/unitree/B2_10_pin.png';
 
 # B2
 
 ## 1. Overview
 
 <img src={B2_IMG} alt="B2 robot" style={{width: 350}} />
 
-## 2. Resources
+The B2 is Unitree's industrial-grade quadruped robot designed for commercial and professional applications and weighs 60 kg with IP67 rating. Built with enhanced durability and weatherproofing capabilities, with its robust construction and intelligent sensing systems, the B2 excels in challenging environments where reliability and performance are critical, making it ideal for inspection, surveillance, and industrial automation tasks.
 
-* **Manual**: [Unitree B2 Manual](https://support.unitree.com/home/en/B2_developer/About%20B2)
-* **Training Slides**: [B2 Customer Training](https://tangrobot.sharepoint.com/:p:/s/Public-Outgoing/Ef2w_exJ67hLi1Xqsv0VjosBtS1pz0ZjTdHZcyOrTAc-mA?e=XiMFoT)
+## 2. Specifications
+
+### 2.1 Electrical Interfaces
+
+![](../img/unitree/B2_electrical_interfaces.png)
+
+#### User Interface Module Power Parameters
+
+<table style={{textAlign: 'left'}}>
+  <thead>
+    <tr>
+      <th style={{textAlign: 'left'}}>Interface</th>
+      <th style={{textAlign: 'left'}}>Parameter</th>
+      <th style={{textAlign: 'left'}}>Specification</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <td rowspan="2" style={{textAlign: 'left', verticalAlign: 'top'}}><strong>USB Interface (TYPE-C)</strong><br/><br/><em><strong>Note:</strong> This interface is powered from the PC processor in
+        B2's abdomen and shares power with the TYPE-C interface
+        of the B2 abdominal processor.</em></td>
+      <td style={{textAlign: 'left'}}>1. Total USB output current</td>
+      <td style={{textAlign: 'left'}}>3A</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left'}}>2. Current limit per USB port</td>
+      <td style={{textAlign: 'left'}}>1.5A</td>
+    </tr>
+    <tr>
+      <td rowspan="4" style={{textAlign: 'left', verticalAlign: 'top'}}><strong>24V Power Interface (2+2PIN)</strong></td>
+      <td style={{textAlign: 'left'}}>1. Total 24V output rating</td>
+      <td style={{textAlign: 'left'}}>10A</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left'}}>2. Total 24V output overload protection</td>
+      <td style={{textAlign: 'left'}}>15A slow-blow fuse (one-time)</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left'}}>3. Total 24V output overcurrent protection</td>
+      <td style={{textAlign: 'left'}}>Trigger at 24A, reset at 16A (hiccup self-recovery)</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left'}}>4. Current distribution per 24V interface</td>
+      <td style={{textAlign: 'left'}}>None (internal wiring is parallel, sharing one power supply)</td>
+    </tr>
+    <tr>
+      <td rowspan="5" style={{textAlign: 'left', verticalAlign: 'top'}}><strong>12V Network Interface (2+8PIN)</strong><br/><br/><em><strong>Note:</strong> This interface shares power with the B2 abdominal processor. The parameters listed below are the overall internal power parameters.</em></td>
+      <td style={{textAlign: 'left'}}>1. Total 12V output rating</td>
+      <td style={{textAlign: 'left'}}>10A</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left'}}>2. Total 12V output overload protection</td>
+      <td style={{textAlign: 'left'}}>15A slow-blow fuse (one-time)</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left'}}>3. Total 12V output overcurrent protection</td>
+      <td style={{textAlign: 'left'}}>Trigger at 24A, reset at 16A (hiccup self-recovery)</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left'}}>4. Current distribution per 12V interface</td>
+      <td style={{textAlign: 'left'}}>None (internal wiring is parallel, sharing one power supply)</td>
+    </tr>
+  </tbody>
+</table>
+
+<div style={{textAlign: 'center'}}>
+  <img src={B2_4PIN_IMG} alt="B2 4-Pin" style={{width: 350}} />
+</div>
+
+#### (2+2) Power Line Interface
+
+<table style={{textAlign: 'left'}}>
+  <thead>
+    <tr>
+      <th style={{textAlign: 'left'}}>Pin</th>
+      <th style={{textAlign: 'left'}}>Colour</th>
+      <th style={{textAlign: 'left'}}>Specification</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>1</strong></td>
+      <td style={{textAlign: 'left'}}>Black (14AWG)</td>
+      <td style={{textAlign: 'left'}}>Power-</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>2</strong></td>
+      <td style={{textAlign: 'left'}}>Red (24AWG)</td>
+      <td style={{textAlign: 'left'}}>485A-</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>3</strong></td>
+      <td style={{textAlign: 'left'}}>Black (24AWG)</td>
+      <td style={{textAlign: 'left'}}>485B-</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>4</strong></td>
+      <td style={{textAlign: 'left'}}>Red (14AWG)</td>
+      <td style={{textAlign: 'left'}}>Power+</td>
+    </tr>
+  </tbody>
+</table>
+
+<div style={{textAlign: 'center'}}>
+  <img src={B2_10PIN_IMG} alt="B2 10-Pin" style={{width: 350}} />
+</div>
+
+#### (8+2) Signal Line Interface
+
+<table style={{textAlign: 'left'}}>
+  <thead>
+    <tr>
+      <th style={{textAlign: 'left'}}>Pin</th>
+      <th style={{textAlign: 'left'}}>Colour</th>
+      <th style={{textAlign: 'left'}}>Specification</th>
+      <th style={{textAlign: 'left'}}>T568 Standard Ethernet Cable</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>1</strong></td>
+      <td style={{textAlign: 'left'}}>Black</td>
+      <td style={{textAlign: 'left'}}>Power-</td>
+      <td style={{textAlign: 'left'}}>-</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>2</strong></td>
+      <td style={{textAlign: 'left'}}>Orange</td>
+      <td style={{textAlign: 'left'}}>4N</td>
+      <td style={{textAlign: 'left'}}>Brown</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>3</strong></td>
+      <td style={{textAlign: 'left'}}>Purple</td>
+      <td style={{textAlign: 'left'}}>4P</td>
+      <td style={{textAlign: 'left'}}>White Brown</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>4</strong></td>
+      <td style={{textAlign: 'left'}}>Brown</td>
+      <td style={{textAlign: 'left'}}>1P</td>
+      <td style={{textAlign: 'left'}}>White Orange</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>5</strong></td>
+      <td style={{textAlign: 'left'}}>Blue</td>
+      <td style={{textAlign: 'left'}}>1N</td>
+      <td style={{textAlign: 'left'}}>Orange</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>6</strong></td>
+      <td style={{textAlign: 'left'}}>White</td>
+      <td style={{textAlign: 'left'}}>3N</td>
+      <td style={{textAlign: 'left'}}>Blue</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>7</strong></td>
+      <td style={{textAlign: 'left'}}>Green</td>
+      <td style={{textAlign: 'left'}}>3P</td>
+      <td style={{textAlign: 'left'}}>White Blue</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>8</strong></td>
+      <td style={{textAlign: 'left'}}>Pink</td>
+      <td style={{textAlign: 'left'}}>2N</td>
+      <td style={{textAlign: 'left'}}>Green</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>9</strong></td>
+      <td style={{textAlign: 'left'}}>Grey</td>
+      <td style={{textAlign: 'left'}}>2P</td>
+      <td style={{textAlign: 'left'}}>White Green</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>10</strong></td>
+      <td style={{textAlign: 'left'}}>Red</td>
+      <td style={{textAlign: 'left'}}>Power+(12V)</td>
+      <td style={{textAlign: 'left'}}>-</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>-</strong></td>
+      <td style={{textAlign: 'left'}}>Deep Blue</td>
+      <td style={{textAlign: 'left'}}>none</td>
+      <td style={{textAlign: 'left'}}>-</td>
+    </tr>
+    <tr>
+      <td style={{textAlign: 'left', verticalAlign: 'top'}}><strong>-</strong></td>
+      <td style={{textAlign: 'left'}}>Yellow</td>
+      <td style={{textAlign: 'left'}}>none</td>
+      <td style={{textAlign: 'left'}}>-</td>
+    </tr>
+  </tbody>
+</table>
+
+
+### 2.2 On-board Computer
+
+B2 has a maximum of 5 built-in computers:
+
+- Operation & SLAM unit (Not accessible to public)
+    - PC1 IP: 192.168.123.161
+    - PC2 IP: 192.168.123.162
+
+- User development computing units
+    - PC3 IP: 192.168.123.163
+    - PC4 IP: 192.168.123.164
+    - PC5 IP: 192.168.123.165
+    - Username: unitree
+    - Password: Unitree0408
+> **Note**: PC3 uses an Intel i7 processor. PC4 & PC5 can be configured with either Intel i7 (x86) or Orin NX (ARM) processors. x86 computers have 512GB of storage while ARM computers have 2TB of storage. The PCs run Ubuntu 20.04 (newer models run Ubuntu 22.04). 
+
+## 3. Resources
+
+* **Training Slides**: [B2 Training](https://tangrobot.sharepoint.com/:p:/s/Public-Outgoing/Ef2w_exJ67hLi1Xqsv0VjosBtS1pz0ZjTdHZcyOrTAc-mA?e=XiMFoT)
+* **Unitree Support Page**: [Unitree](https://support.unitree.com/home/en/B2_developer/About%20B2)
 * **C++ SDK**: [unitree_sdk2](https://github.com/unitreerobotics/unitree_sdk2)
+* **Python SDK**: [unitree_sdk2_python](https://github.com/unitreerobotics/unitree_sdk2_python)
 * **ROS2 Package**: [unitree_ros2](https://github.com/unitreerobotics/unitree_ros2)
+* **B2 App, Robot Features, Tutorial Videos, Manuals**: [B2 Features](https://www.unitree.com/app/b2) 
 * **User Interface Module CAD**: [B2 User Interface Module STEP](https://tangrobot.sharepoint.com/:u:/s/ProductDevelopment/EaH5OYxj8glKjJ10s0Xm2ooBU7ncVzAkqjGGkULEB9O_jA?e=uJayCQ)
+* **Other Information**: [URDF/CAD](https://support.unitree.com/home/en/B2_developer/Obtain%20SDK)
+* **Tutorials Page**: [Diagnostic Guide](/tutorial/intro)
+
+## 4. FAQ
+
+1. **Can the ports on the side of the B2 be used?**   
+    A: Yes, the ports on the side of the B2 robot are accessible for use. However, we strongly recommend using the ports located on the User Interface Module whenever possible. While the B2 has an IP67 rating when properly sealed, using the side ports may require opening protective covers which could temporarily compromise the robot's waterproof capabilities during operation. Users should be familiar with the different ports and proper sealing procedures before using them.
+
+2. **What is the default speed of the B2 in AI mode?**   
+    A: The default is Low speed. Double click L1 to switch to High Speed.
 
-## 3. FAQ
+3. **Can the RealSense cameras on the B2 be used for secondary development?**   
+    A: No, the RealSense cameras on the B2 robot are currently not accessible for users to directly control or integrate into their own development projects. These cameras are primarily used by the manufacturer to power the robot's built-in perception features.
 
-* **Can the ports on the side of the B2 be used?**
-    - Yes, the ports on the side of the B2 robot are accessible for use. However, we strongly recommend using the ports located on the User Interface Module whenever possible. This is because using the side ports could compromise the robot's waterproof capabilities. Users are urged to be familiar of the different ports before using them.
+4. **Can the contact charger be used outdoors?**   
+    A: This contact charger is designed for indoor use. Avoid using it in wet or humid environments to prevent the risk of short circuits. Moisture can damage the charger and potentially pose a safety hazard.
 
-* **What is the default speed of the B2 in AI mode?**
-    - The default is Low speed. Double click L1 to switch to High Speed.
+5. **What does first foot control and second foot control represent?**   
+    A: First Foot control represents Normal mode, while Second Foot control represents AI mode. When switched on, the B2 is in AI mode (Second Foot control) by default.
 
-* **Can the RealSense cameras on the B2 be used for secondary development?**
-    - No, the RealSense cameras on the B2 robot are currently not accessible for users to directly control or integrate into their own development projects. These cameras are primarily used by the manufacturer to power the robot's built-in perception features.
+6. **Q: Does the robot support wireless development?**   
+    A: Currently, the robot does not support wireless connection to internal computers.
 
-* **Can the contact charger be used outdoors?**
-    - This contact charger is designed for indoor use. Avoid using it in wet or humid environments to prevent the risk of short circuits. Moisture can damage the charger and potentially pose a safety hazard.
+7. **Q: How often do I need to lubricate the joints?**  
+    A: If you encounter motor issues, stiffness or loosening of joints, please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl).
+    The *Serial Number (SN)* of the robot is located in the battery compartment. The SN (and the *Model*) can also be found in the app in `Device -> Robot Settings`.
 
-* **What does first foot control and second foot control represent?**
-    - First Foot control represents Normal mode, while Second Foot control represents AI mode. When switched on, the B2 is in AI mode (Second Foot control) by default.
+8. **Q: What happens when the robot rolls over/falls and does not respond to remote control commands?**   
+    A: If the `Recover From Fall` command does not work or it is unsafe to do so, check and screenshot the mobile app for any warnings or errors displayed. Power off the robot and carry the robot to a flat and levelled ground. Inspect the robot for any damages (e.g., loose/damaged wiring). Please contact [Weston Robot Support Team](https://forms.office.com/pages/responsepage.aspx?id=NTNVCC0zFkWzGo_3Vcs_4KxdsbBJKHVIkFlOJLtAMMlUQkJZMU8wM1EyTkRUVUJCVzA2WVdQNzBSMCQlQCN0PWcu&route=shorturl) if the robot is unable to be powered on or start up.