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fix(unitree_g1): disable SMPL root-motion anchor to prevent sim instability

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Feeding the per-frame SMPL root quaternion into the mode-2 anchor produced
root-acceleration spikes (NaN QACC at DOF 0) mid-episode during replay. Keep the
anchor self-driven until the reference root trajectory is smoothed/rate-matched
(30 Hz dataset -> 50 Hz control).

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-15 14:59:22 +02:00
parent c997abe739
commit 2eae31ea2b
1 changed files with 6 additions and 1 deletions
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src/lerobot/robots/unitree_g1/controllers/sonic_whole_body.py
+6 -1
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@@ -349,7 +349,12 @@ class SonicWholeBodyController:
self._enter_wholebody() self._enter_wholebody()
self.controller.smpl_joints_10frame_step1 = smpl self.controller.smpl_joints_10frame_step1 = smpl
# Root orientation (if provided) steers the mode-2 anchor/heading. # Root orientation (if provided) steers the mode-2 anchor/heading.
self.controller.smpl_root_quat = root_quat # Temporarily disabled: feeding the per-frame SMPL root quaternion produced
# root-acceleration spikes (NaN QACC at DOF 0, sim unstable) mid-episode.
# Keep the anchor self-driven until the reference root trajectory is
# smoothed/rate-matched (30 Hz dataset -> 50 Hz control).
self.controller.smpl_root_quat = None
_ = root_quat
return self._runtime.tick(obs, debug=False, use_joystick=False) return self._runtime.tick(obs, debug=False, use_joystick=False)
# No (or stale) SMPL: fall back to locomotion so the robot stays balanced. # No (or stale) SMPL: fall back to locomotion so the robot stays balanced.