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feat(unitree_g1): optional camera streaming in onboard runner

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Add --cameras to run_g1_onboard so view_cameras.py can connect. Reuses ImageServer +
parse_camera_specs from run_g1_server; runs in a daemon thread independent of DDS/CAN.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-18 20:42:44 +02:00
parent 6ec27e027e
commit 093da3b987
1 changed files with 24 additions and 1 deletions
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src/lerobot/robots/unitree_g1/run_g1_onboard.py
+24 -1
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@@ -42,8 +42,9 @@ import threading
import zmq
from lerobot.cameras.zmq.image_server import ImageServer
from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
from lerobot.robots.unitree_g1.run_g1_server import Gripper, build_gripper
from lerobot.robots.unitree_g1.run_g1_server import Gripper, build_gripper, parse_camera_specs
from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s", force=True)
@@ -77,6 +78,13 @@ def main() -> None:
"--gripper-no-fd", dest="gripper_fd", action="store_false", help="Classic CAN (non-FD adapter)"
)
p.set_defaults(gripper_fd=True)
# Optional camera streaming (so view_cameras.py can connect). Same spec format as
# run_g1_server.py: 'name:device[:WxH[:FOURCC]]' comma-separated.
p.add_argument("--cameras", default=None, help="Camera spec 'name:device[:WxH[:FOURCC]]', comma-sep")
p.add_argument("--camera-fps", type=int, default=30, help="Camera FPS")
p.add_argument("--camera-port", type=int, default=5555, help="Camera ZMQ port")
p.add_argument("--camera-width", type=int, default=640, help="Default camera width")
p.add_argument("--camera-height", type=int, default=480, help="Default camera height")
args = p.parse_args()
cfg = UnitreeG1Config(
@@ -87,6 +95,16 @@ def main() -> None:
gravity_compensation=args.gravity_compensation,
cameras={},
)
# Optional camera server (for view_cameras.py). Runs in a background thread and is
# independent of DDS/CAN, so it coexists with the onboard controller and grippers.
camera_server = None
if args.cameras:
cameras = parse_camera_specs(args.cameras, args.camera_width, args.camera_height)
camera_server = ImageServer({"fps": args.camera_fps, "cameras": cameras}, port=args.camera_port)
threading.Thread(target=camera_server.run, daemon=True).start()
cam_summary = ", ".join(f"{name}(dev {c['device_id']})" for name, c in cameras.items())
logger.info("Camera server started on :%d: %s", args.camera_port, cam_summary)
robot = UnitreeG1(cfg)
logger.info("Connecting onboard robot (controller=%s)...", args.controller)
robot.connect()
@@ -156,6 +174,11 @@ def main() -> None:
logger.info("Applied %d actions | axes=%s buttons=%s", n, axes, btn)
finally:
logger.info("Shutting down onboard controller...")
if camera_server is not None:
try:
camera_server.stop()
except Exception as e: # noqa: BLE001
logger.warning("Camera server stop failed: %s", e)
for g in grippers.values():
try:
g.bus.disconnect()