I pretty thoroughly reverse engineered the unitree Go2 robot dog with a benchtop mobo from a scrapped bot, a USB-TTL convertor, and Opus 4.6

Used the findings to release a jailbreak so you can program the cheap consumer version ($1.6k) as though it were the expensive research version ($15k)

Very fun exercise

https://github.com/a-bissell/UnLeash-Lite