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refactor(unitree_g1): move lowstate_to_obs out of g1_utils into unitree_g1

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Keep g1_utils close to main: the lowstate -> obs mapping lives in unitree_g1
(where get_observation builds it, left unchanged from main) and the SONIC
controller imports it from there.
This commit is contained in:
Martino Russi
2026-07-30 11:56:57 +02:00
parent 16b915ede5
commit 0a9b9d9a93
3 changed files with 42 additions and 42 deletions
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src/lerobot/robots/unitree_g1/controllers/sonic_whole_body.py
+1 -1
View File
@@ -44,8 +44,8 @@ from ..g1_utils import (
G1_29_JointIndex,
compute_pd_gains,
get_gravity_orientation,
lowstate_to_obs,
)
from ..unitree_g1 import lowstate_to_obs
logger = logging.getLogger(__name__)
src/lerobot/robots/unitree_g1/g1_utils.py
-41
View File
@@ -163,47 +163,6 @@ class G1_29_JointArmIndex(IntEnum):
kRightWristYaw = 28
def lowstate_to_obs(lowstate) -> dict:
"""Build a robot observation dict from a Unitree lowstate.
Shared by ``UnitreeG1.get_observation`` and the SONIC pipeline so the
lowstate -> obs mapping lives in exactly one place. Keys match the
``<joint>.q``/``imu.*`` schema consumed across the controllers.
"""
obs: dict = {}
for motor in G1_29_JointIndex:
idx = motor.value
obs[f"{motor.name}.q"] = lowstate.motor_state[idx].q
obs[f"{motor.name}.dq"] = lowstate.motor_state[idx].dq
obs[f"{motor.name}.tau"] = lowstate.motor_state[idx].tau_est
imu = lowstate.imu_state
if imu.gyroscope:
obs["imu.gyro.x"] = imu.gyroscope[0]
obs["imu.gyro.y"] = imu.gyroscope[1]
obs["imu.gyro.z"] = imu.gyroscope[2]
if imu.accelerometer:
obs["imu.accel.x"] = imu.accelerometer[0]
obs["imu.accel.y"] = imu.accelerometer[1]
obs["imu.accel.z"] = imu.accelerometer[2]
if imu.quaternion:
obs["imu.quat.w"] = imu.quaternion[0]
obs["imu.quat.x"] = imu.quaternion[1]
obs["imu.quat.y"] = imu.quaternion[2]
obs["imu.quat.z"] = imu.quaternion[3]
if imu.rpy:
obs["imu.rpy.roll"] = imu.rpy[0]
obs["imu.rpy.pitch"] = imu.rpy[1]
obs["imu.rpy.yaw"] = imu.rpy[2]
wr = getattr(lowstate, "wireless_remote", None)
if wr:
obs["wireless_remote"] = bytes(wr) if not isinstance(wr, (bytes, bytearray)) else wr
return obs
def make_locomotion_controller(name: str | None):
"""Instantiate a locomotion controller by class name. Returns None if name is None."""
if name is None:
src/lerobot/robots/unitree_g1/unitree_g1.py
+41
View File
@@ -105,6 +105,47 @@ class G1_29_LowState: # noqa: N801
mode_machine: int = 0 # Robot mode
def lowstate_to_obs(lowstate) -> dict:
"""Build a robot observation dict from a Unitree lowstate.
Shared by ``UnitreeG1.get_observation`` and the SONIC pipeline so the
lowstate -> obs mapping lives in exactly one place. Keys match the
``<joint>.q``/``imu.*`` schema consumed across the controllers.
"""
obs: dict = {}
for motor in G1_29_JointIndex:
idx = motor.value
obs[f"{motor.name}.q"] = lowstate.motor_state[idx].q
obs[f"{motor.name}.dq"] = lowstate.motor_state[idx].dq
obs[f"{motor.name}.tau"] = lowstate.motor_state[idx].tau_est
imu = lowstate.imu_state
if imu.gyroscope:
obs["imu.gyro.x"] = imu.gyroscope[0]
obs["imu.gyro.y"] = imu.gyroscope[1]
obs["imu.gyro.z"] = imu.gyroscope[2]
if imu.accelerometer:
obs["imu.accel.x"] = imu.accelerometer[0]
obs["imu.accel.y"] = imu.accelerometer[1]
obs["imu.accel.z"] = imu.accelerometer[2]
if imu.quaternion:
obs["imu.quat.w"] = imu.quaternion[0]
obs["imu.quat.x"] = imu.quaternion[1]
obs["imu.quat.y"] = imu.quaternion[2]
obs["imu.quat.z"] = imu.quaternion[3]
if imu.rpy:
obs["imu.rpy.roll"] = imu.rpy[0]
obs["imu.rpy.pitch"] = imu.rpy[1]
obs["imu.rpy.yaw"] = imu.rpy[2]
wr = getattr(lowstate, "wireless_remote", None)
if wr:
obs["wireless_remote"] = bytes(wr) if not isinstance(wr, (bytes, bytearray)) else wr
return obs
class UnitreeG1(Robot):
config_class = UnitreeG1Config
name = "unitree_g1"