download policy from the hub in examples/unitree_g1/gr00t_locomotion

examples/unitree_g1/gr00t_locomotion.py

@@ -7,6 +7,7 @@ This example demonstrates the NEW pattern for loading GR00T policies externally
 and passing them to the robot class.
 """
 
+import argparse
 import logging
 import threading
 import time
@@ -15,6 +16,7 @@ from collections import deque
 import numpy as np
 import onnxruntime as ort
 import torch
+from huggingface_hub import hf_hub_download
 
 from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
 from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
@@ -72,15 +74,32 @@ DOF_VEL_SCALE: float = 0.05
 CMD_SCALE: list = [2.0, 2.0, 0.25]
 
 
-def load_groot_policies() -> tuple:
+DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"
-    """Load GR00T dual-policy system (Balance + Walk) from ONNX files."""
+
-    logger.info("Loading GR00T dual-policy system...")
+
+def load_groot_policies(
+    repo_id: str = DEFAULT_GROOT_REPO_ID,
+) -> tuple[ort.InferenceSession, ort.InferenceSession]:
+    """Load GR00T dual-policy system (Balance + Walk) from Hugging Face Hub.
+
+    Args:
+        repo_id: Hugging Face Hub repository ID containing the ONNX policies.
+    """
+    logger.info(f"Loading GR00T dual-policy system from Hugging Face Hub ({repo_id})...")
+
+    # Download ONNX policies from Hugging Face Hub
+    balance_path = hf_hub_download(
+        repo_id=repo_id,
+        filename="GR00T-WholeBodyControl-Balance.onnx",
+    )
+    walk_path = hf_hub_download(
+        repo_id=repo_id,
+        filename="GR00T-WholeBodyControl-Walk.onnx",
+    )
 
     # Load ONNX policies
-    policy_balance = ort.InferenceSession(
+    policy_balance = ort.InferenceSession(balance_path)
-        "examples/unitree_g1/locomotion/GR00T-WholeBodyControl-Balance.onnx"
+    policy_walk = ort.InferenceSession(walk_path)
-    )
-    policy_walk = ort.InferenceSession("examples/unitree_g1/locomotion/GR00T-WholeBodyControl-Walk.onnx")
 
     logger.info("GR00T policies loaded successfully")
 
@@ -99,7 +118,6 @@ class GrootLocomotionController:
     """
 
     def __init__(self, policy_balance, policy_walk, robot, config):
-
         self.policy_balance = policy_balance
         self.policy_walk = policy_walk
         self.robot = robot
@@ -128,7 +146,6 @@ class GrootLocomotionController:
         logger.info("GrootLocomotionController initialized")
 
     def groot_locomotion_run(self):
-
         # get current observation
         robot_state = self.robot.get_observation()
 
@@ -150,15 +167,14 @@ class GrootLocomotionController:
             self.robot.remote_controller.rx = 0.0
             self.robot.remote_controller.ry = 0.0
 
-        self.locomotion_cmd[0] = self.robot.remote_controller.ly # forward/backward
+        self.locomotion_cmd[0] = self.robot.remote_controller.ly  # forward/backward
-        self.locomotion_cmd[1] = self.robot.remote_controller.lx * -1 # left/right
+        self.locomotion_cmd[1] = self.robot.remote_controller.lx * -1  # left/right
-        self.locomotion_cmd[2] = self.robot.remote_controller.rx * -1 # rotation rate
+        self.locomotion_cmd[2] = self.robot.remote_controller.rx * -1  # rotation rate
 
         for i in range(29):
             self.groot_qj_all[i] = robot_state.motor_state[i].q
             self.groot_dqj_all[i] = robot_state.motor_state[i].dq
 
-
         # adapt observation for g1_23dof
         for idx in MISSING_JOINTS:
             self.groot_qj_all[idx] = 0.0
@@ -173,12 +189,11 @@ class GrootLocomotionController:
         ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
         gravity_orientation = self.robot.get_gravity_orientation(quat)
 
-        #scale joint positions and velocities before policy inference
+        # scale joint positions and velocities before policy inference
         qj_obs = (qj_obs - GROOT_DEFAULT_ANGLES) * DOF_POS_SCALE
         dqj_obs = dqj_obs * DOF_VEL_SCALE
         ang_vel_scaled = ang_vel * ANG_VEL_SCALE
 
-
         # build single frame observation
         self.groot_obs_single[:3] = self.locomotion_cmd * np.array(CMD_SCALE)
         self.groot_obs_single[3] = self.groot_height_cmd
@@ -202,7 +217,7 @@ class GrootLocomotionController:
         obs_tensor = torch.from_numpy(self.groot_obs_stacked).unsqueeze(0)
 
         cmd_magnitude = np.linalg.norm(self.locomotion_cmd)
-        
+
         if cmd_magnitude < 0.05:
             # balance/standing policy for small commands
             selected_policy = self.policy_balance
@@ -218,7 +233,7 @@ class GrootLocomotionController:
         # transform action back to target joint positions
         target_dof_pos_15 = GROOT_DEFAULT_ANGLES[:15] + self.groot_action * LOCOMOTION_ACTION_SCALE
 
-        # command motors 
+        # command motors
         for i in range(15):
             motor_idx = i
             self.robot.msg.motor_cmd[motor_idx].q = target_dof_pos_15[i]
@@ -235,7 +250,7 @@ class GrootLocomotionController:
             self.robot.msg.motor_cmd[joint_idx].kd = self.robot.kd[joint_idx]
             self.robot.msg.motor_cmd[joint_idx].tau = 0
 
-        #send action to robot
+        # send action to robot
         self.robot.send_action(self.robot.msg)
 
     def _locomotion_thread_loop(self):
@@ -298,7 +313,9 @@ class GrootLocomotionController:
             alpha = i / num_step
             for motor_idx in range(dof_size):
                 target_pos = default_pos[motor_idx]
-                self.robot.msg.motor_cmd[motor_idx].q = init_dof_pos[motor_idx] * (1 - alpha) + target_pos * alpha
+                self.robot.msg.motor_cmd[motor_idx].q = (
+                    init_dof_pos[motor_idx] * (1 - alpha) + target_pos * alpha
+                )
                 self.robot.msg.motor_cmd[motor_idx].qd = 0
                 self.robot.msg.motor_cmd[motor_idx].kp = self.robot.kp[motor_idx]
                 self.robot.msg.motor_cmd[motor_idx].kd = self.robot.kd[motor_idx]
@@ -308,16 +325,25 @@ class GrootLocomotionController:
             time.sleep(self.robot.control_dt)
         logger.info("Reached default position (legs only)")
 
-if __name__ == "__main__":
-    
-    #load policies
-    policy_balance, policy_walk = load_groot_policies()
 
-    #initialize robot
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="GR00T Locomotion Controller for Unitree G1")
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        default=DEFAULT_GROOT_REPO_ID,
+        help=f"Hugging Face Hub repo ID for GR00T policies (default: {DEFAULT_GROOT_REPO_ID})",
+    )
+    args = parser.parse_args()
+
+    # load policies
+    policy_balance, policy_walk = load_groot_policies(repo_id=args.repo_id)
+
+    # initialize robot
     config = UnitreeG1Config()
     robot = UnitreeG1(config)
 
-    #initialize gr00t locomotion controller
+    # initialize gr00t locomotion controller
     groot_controller = GrootLocomotionController(
         policy_balance=policy_balance,
         policy_walk=policy_walk,
@@ -325,20 +351,20 @@ if __name__ == "__main__":
         config=config,
     )
 
-    #reset legs and start locomotion thread
+    # reset legs and start locomotion thread
     groot_controller.reset_robot()
     groot_controller.start_locomotion_thread()
 
-    #log status
+    # log status
     logger.info("Robot initialized with GR00T locomotion policies")
     logger.info("Locomotion controller running in background thread")
     logger.info("Press Ctrl+C to stop")
 
-    #keep robot alive
+    # keep robot alive
     try:
         while True:
             time.sleep(1.0)
     except KeyboardInterrupt:
         print("\nStopping locomotion...")
         groot_controller.stop_locomotion_thread()
-        print("Done!")
+        print("Done!")

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -15,9 +15,6 @@
 # limitations under the License.
 
 from dataclasses import dataclass, field
-from typing import Any
-
-from lerobot.cameras import CameraConfig
 
 from ..config import RobotConfig
 
@@ -27,29 +24,87 @@ from ..config import RobotConfig
 class UnitreeG1Config(RobotConfig):
     # id: str = "unitree_g1"
 
-    kp: list = field(default_factory=lambda: [
+    kp: list = field(
-        150, 150, 150, 300, 40, 40,  # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
+        default_factory=lambda: [
-        150, 150, 150, 300, 40, 40,  # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
+            150,
-        250, 250, 250,  # Waist yaw, roll, pitch
+            150,
-        80, 80, 80, 80,  # Left shoulder pitch, roll, yaw, elbow (kp_low)
+            150,
-        40, 40, 40,      # Left wrist roll, pitch, yaw (kp_wrist)
+            300,
-        80, 80, 80, 80,  # Right shoulder pitch, roll, yaw, elbow (kp_low)
+            40,
-        40, 40, 40,      # Right wrist roll, pitch, yaw (kp_wrist)
+            40,  # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
-        80, 80, 80, 80, 80, 80, # Other
+            150,
-    ])
+            150,
-    
+            150,
-    kd: list = field(default_factory=lambda: [
+            300,
-        2, 2, 2, 4, 2, 2,  # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
+            40,
-        2, 2, 2, 4, 2, 2,  # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
+            40,  # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
-        5, 5, 5,  # Waist yaw, roll, pitch
+            250,
-        3, 3, 3, 3,  # Left shoulder pitch, roll, yaw, elbow (kd_low)
+            250,
-        1.5, 1.5, 1.5,  # Left wrist roll, pitch, yaw (kd_wrist)
+            250,  # Waist yaw, roll, pitch
-        3, 3, 3, 3,  # Right shoulder pitch, roll, yaw, elbow (kd_low)
+            80,
-        1.5, 1.5, 1.5,  # Right wrist roll, pitch, yaw (kd_wrist)
+            80,
-        3, 3, 3, 3, 3, 3, # Other
+            80,
-    ])
+            80,  # Left shoulder pitch, roll, yaw, elbow (kp_low)
+            40,
+            40,
+            40,  # Left wrist roll, pitch, yaw (kp_wrist)
+            80,
+            80,
+            80,
+            80,  # Right shoulder pitch, roll, yaw, elbow (kp_low)
+            40,
+            40,
+            40,  # Right wrist roll, pitch, yaw (kp_wrist)
+            80,
+            80,
+            80,
+            80,
+            80,
+            80,  # Other
+        ]
+    )
 
-    control_dt = 1.0 / 250.0 # 250Hz
+    kd: list = field(
+        default_factory=lambda: [
+            2,
+            2,
+            2,
+            4,
+            2,
+            2,  # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
+            2,
+            2,
+            2,
+            4,
+            2,
+            2,  # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
+            5,
+            5,
+            5,  # Waist yaw, roll, pitch
+            3,
+            3,
+            3,
+            3,  # Left shoulder pitch, roll, yaw, elbow (kd_low)
+            1.5,
+            1.5,
+            1.5,  # Left wrist roll, pitch, yaw (kd_wrist)
+            3,
+            3,
+            3,
+            3,  # Right shoulder pitch, roll, yaw, elbow (kd_low)
+            1.5,
+            1.5,
+            1.5,  # Right wrist roll, pitch, yaw (kd_wrist)
+            3,
+            3,
+            3,
+            3,
+            3,
+            3,  # Other
+        ]
+    )
+
+    control_dt = 1.0 / 250.0  # 250Hz
 
     # socket config for ZMQ bridge
     robot_ip: str = "172.18.129.215"

src/lerobot/robots/unitree_g1/g1_utils.py

@@ -1,5 +1,6 @@
 from enum import IntEnum
 
+
 class G1_29_JointArmIndex(IntEnum):
     # Left arm
     kLeftShoulderPitch = 15
@@ -19,8 +20,8 @@ class G1_29_JointArmIndex(IntEnum):
     kRightWristPitch = 27
     kRightWristYaw = 28
 
-class G1_29_JointIndex(IntEnum):
 
+class G1_29_JointIndex(IntEnum):
     # Left leg
     kLeftHipPitch = 0
     kLeftHipRoll = 1

src/lerobot/robots/unitree_g1/robot_server.py

@@ -9,14 +9,16 @@ from unitree_sdk2py.core.channel import ChannelFactoryInitialize, ChannelPublish
 from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as hg_LowCmd, LowState_ as hg_LowState
 from unitree_sdk2py.utils.crc import CRC
 
-kTopicLowCommand_Debug = "rt/lowcmd" #action to robot
+kTopicLowCommand_Debug = "rt/lowcmd"  # action to robot
-kTopicLowState = "rt/lowstate" #observation from robot
+kTopicLowState = "rt/lowstate"  # observation from robot
 
 LOWCMD_PORT = 6000
 LOWSTATE_PORT = 6001
 
 
-def state_forward_loop(lowstate_sub, lowstate_sock, state_period: float):#read observation from DDS and send to server
+def state_forward_loop(
+    lowstate_sub, lowstate_sock, state_period: float
+):  # read observation from DDS and send to server
     last_state_time = 0.0
 
     while True:
@@ -27,7 +29,7 @@ def state_forward_loop(lowstate_sub, lowstate_sock, state_period: float):#read o
 
         now = time.time()
         # optional downsampling (if robot dds rate > state_period)
-        if now - last_state_time >= state_period: 
+        if now - last_state_time >= state_period:
             payload = pickle.dumps((kTopicLowState, msg), protocol=pickle.HIGHEST_PROTOCOL)
             try:
                 lowstate_sock.send(payload, zmq.NOBLOCK)
@@ -37,8 +39,7 @@ def state_forward_loop(lowstate_sub, lowstate_sock, state_period: float):#read o
             last_state_time = now
 
 
-def cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, crc: CRC):#send action to robot
+def cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, crc: CRC):  # send action to robot
-
     while True:
         payload = lowcmd_sock.recv()
         topic, cmd = pickle.loads(payload)
@@ -50,7 +51,6 @@ def cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, crc: CRC):#send action to ro
             lowcmd_pub_debug.Write(cmd)
         else:
             pass
-        
 
 
 def main():
@@ -73,7 +73,7 @@ def main():
     # initialize DDS publisher
     lowcmd_pub_debug = ChannelPublisher(kTopicLowCommand_Debug, hg_LowCmd)
     lowcmd_pub_debug.Init()
-    
+
     # initialize DDS subscriber
     lowstate_sub = ChannelSubscriber(kTopicLowState, hg_LowState)
     lowstate_sub.Init()

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -14,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import json
 import logging
 import struct
 import threading
@@ -52,11 +51,10 @@ H1_2_Num_Motors = 35
 H1_Num_Motors = 20
 
 
-
 class MotorState:
     def __init__(self):
-        self.q = None # position
+        self.q = None  # position
-        self.dq = None # velocity
+        self.dq = None  # velocity
         self.tau_est = None  # estimated torque
         self.temperature = None  # motor temperature
 
@@ -69,7 +67,8 @@ class IMUState:
         self.rpy = None  # [roll, pitch, yaw] (rad)
         self.temperature = None  # IMU temperature
 
-#g1 observation class
+
+# g1 observation class
 class G1_29_LowState:
     def __init__(self):
         self.motor_state = [MotorState() for _ in range(G1_29_Num_Motors)]
@@ -95,9 +94,8 @@ class UnitreeG1(Robot):
     config_class = UnitreeG1Config
     name = "unitree_g1"
 
-    #unitree remote controller
+    # unitree remote controller
     class RemoteController:
-        
         def __init__(self):
             self.lx = 0
             self.ly = 0
@@ -165,7 +163,7 @@ class UnitreeG1(Robot):
         # Initialize remote controller
         self.remote_controller = self.RemoteController()
 
-    def _subscribe_motor_state(self): #polls robot state @ 250Hz
+    def _subscribe_motor_state(self):  # polls robot state @ 250Hz
         while True:
             start_time = time.time()
             msg = self.lowstate_subscriber.Read()
@@ -200,13 +198,13 @@ class UnitreeG1(Robot):
     def action_features(self) -> dict[str, type]:
         return {f"{G1_29_JointIndex(motor).name}.pos": float for motor in G1_29_JointIndex}
 
-    def calibrate(self) -> None:#robot is already calibrated
+    def calibrate(self) -> None:  # robot is already calibrated
         pass
 
     def configure(self) -> None:
         pass
 
-    def connect(self, calibrate: bool = True) -> None: #connect to DDS
+    def connect(self, calibrate: bool = True) -> None:  # connect to DDS
         ChannelFactoryInitialize(0)
 
     def disconnect(self):
@@ -243,7 +241,7 @@ class UnitreeG1(Robot):
         self.msg.crc = self.crc.Crc(action)
         self.lowcmd_publisher.Write(action)
 
-    def get_gravity_orientation(self, quaternion):#get gravity orientation from quaternion
+    def get_gravity_orientation(self, quaternion):  # get gravity orientation from quaternion
         """Get gravity orientation from quaternion."""
         qw = quaternion[0]
         qx = quaternion[1]
@@ -256,7 +254,9 @@ class UnitreeG1(Robot):
         gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
         return gravity_orientation
 
-    def transform_imu_data(self, waist_yaw, waist_yaw_omega, imu_quat, imu_omega):#transform imu data from torso to pelvis frame
+    def transform_imu_data(
+        self, waist_yaw, waist_yaw_omega, imu_quat, imu_omega
+    ):  # transform imu data from torso to pelvis frame
         """Transform IMU data from torso to pelvis frame."""
         RzWaist = R.from_euler("z", waist_yaw).as_matrix()
         R_torso = R.from_quat([imu_quat[1], imu_quat[2], imu_quat[3], imu_quat[0]]).as_matrix()

src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py

@@ -1,4 +1,5 @@
 import pickle
+
 import zmq
 
 from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
@@ -11,18 +12,17 @@ LOWCMD_PORT = 6000
 LOWSTATE_PORT = 6001
 
 
-def ChannelFactoryInitialize(*args, **kwargs):#DDS to socket bridge
+def ChannelFactoryInitialize(*args, **kwargs):  # DDS to socket bridge
-    global _ctx, _lowcmd_sock, _lowstate_sock\
+    global _ctx, _lowcmd_sock, _lowstate_sock
-    
     # read socket config
     config = UnitreeG1Config()
     robot_ip = config.robot_ip
-    
+
     _ctx = zmq.Context.instance()
 
     # lowcmd: robot action
     _lowcmd_sock = _ctx.socket(zmq.PUSH)
-    _lowcmd_sock.setsockopt(zmq.CONFLATE, 1)#keep only last message
+    _lowcmd_sock.setsockopt(zmq.CONFLATE, 1)  # keep only last message
     _lowcmd_sock.connect(f"tcp://{robot_ip}:{LOWCMD_PORT}")
 
     # lowstate: robot observation
@@ -32,7 +32,7 @@ def ChannelFactoryInitialize(*args, **kwargs):#DDS to socket bridge
     _lowstate_sock.setsockopt_string(zmq.SUBSCRIBE, "")
 
 
-class ChannelPublisher: #send action to robot
+class ChannelPublisher:  # send action to robot
     def __init__(self, topic, msg_type):
         self.topic = topic
         self.msg_type = msg_type
@@ -44,7 +44,7 @@ class ChannelPublisher: #send action to robot
         _lowcmd_sock.send(pickle.dumps((self.topic, msg)))
 
 
-class ChannelSubscriber: #read observation from robot
+class ChannelSubscriber:  # read observation from robot
     def __init__(self, topic, msg_type):
         self.topic = topic
         self.msg_type = msg_type