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ensure robot is connected before changing mode

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This commit is contained in:
Martino Russi
2025-11-28 13:43:28 +01:00
parent 4c834aa059
commit 30ea470f1c
1 changed files with 7 additions and 4 deletions
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src/lerobot/robots/unitree_g1/unitree_g1.py
+7 -4
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@@ -77,6 +77,7 @@ class G1_29_LowState: # noqa: N801
motor_state: list[MotorState] = field(default_factory=lambda: [MotorState() for _ in range(G1_29_Num_Motors)]) motor_state: list[MotorState] = field(default_factory=lambda: [MotorState() for _ in range(G1_29_Num_Motors)])
imu_state: IMUState = field(default_factory=IMUState) imu_state: IMUState = field(default_factory=IMUState)
wireless_remote: Any = None # Raw wireless remote data wireless_remote: Any = None # Raw wireless remote data
mode_machine: int = 0 # Robot mode
class DataBuffer: class DataBuffer:
@@ -142,8 +143,6 @@ class UnitreeG1(Robot):
while not self.is_connected: while not self.is_connected:
time.sleep(0.1) time.sleep(0.1)
logger.warning("[UnitreeG1] Waiting to connect to robot...")
logger.warning("[UnitreeG1] Connected to robot.")
# initialize hg's lowcmd msg # initialize hg's lowcmd msg
self.crc = CRC() self.crc = CRC()
@@ -156,8 +155,9 @@ class UnitreeG1(Robot):
lowstate = self.lowstate_buffer.get_data() lowstate = self.lowstate_buffer.get_data()
if lowstate is None: if lowstate is None:
time.sleep(0.01) time.sleep(0.01)
logger.warning("[UnitreeG1] Waiting for robot state...")
self.msg.mode_machine = lowstate.mode_machine if hasattr(lowstate, 'mode_machine') else 0 logger.warning("[UnitreeG1] Connected to robot.")
self.msg.mode_machine = lowstate.mode_machine
# initialize all motors with unified kp/kd from config # initialize all motors with unified kp/kd from config
self.kp = np.array(config.kp, dtype=np.float32) self.kp = np.array(config.kp, dtype=np.float32)
@@ -196,6 +196,9 @@ class UnitreeG1(Robot):
# Capture wireless remote data # Capture wireless remote data
lowstate.wireless_remote = msg.wireless_remote lowstate.wireless_remote = msg.wireless_remote
# Capture mode_machine
lowstate.mode_machine = msg.mode_machine
self.lowstate_buffer.set_data(lowstate) self.lowstate_buffer.set_data(lowstate)
current_time = time.time() current_time = time.time()