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download policy from the hub in examples/unitree_g1/gr00t_locomotion

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This commit is contained in:
Michel Aractingi
2025-11-27 10:23:02 +01:00
parent 288cfc7f8e
commit 36ed02adfa
6 changed files with 164 additions and 82 deletions
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examples/unitree_g1/gr00t_locomotion.py
+39 -13
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@@ -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:
"""Load GR00T dual-policy system (Balance + Walk) from ONNX files."""
logger.info("Loading GR00T dual-policy system...")
DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"
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(
"examples/unitree_g1/locomotion/GR00T-WholeBodyControl-Balance.onnx"
)
policy_walk = ort.InferenceSession("examples/unitree_g1/locomotion/GR00T-WholeBodyControl-Walk.onnx")
policy_balance = ort.InferenceSession(balance_path)
policy_walk = ort.InferenceSession(walk_path)
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()
@@ -158,7 +175,6 @@ class GrootLocomotionController:
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
@@ -178,7 +194,6 @@ class GrootLocomotionController:
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
@@ -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]
@@ -308,10 +325,19 @@ class GrootLocomotionController:
time.sleep(self.robot.control_dt)
logger.info("Reached default position (legs only)")
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()
policy_balance, policy_walk = load_groot_policies(repo_id=args.repo_id)
# initialize robot
config = UnitreeG1Config()
src/lerobot/robots/unitree_g1/config_unitree_g1.py
+78 -23
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@@ -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
@@ -27,27 +24,85 @@ from ..config import RobotConfig
class UnitreeG1Config(RobotConfig):
# id: str = "unitree_g1"
kp: list = field(default_factory=lambda: [
150, 150, 150, 300, 40, 40, # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
150, 150, 150, 300, 40, 40, # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
250, 250, 250, # Waist yaw, roll, pitch
80, 80, 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
])
kp: list = field(
default_factory=lambda: [
150,
150,
150,
300,
40,
40, # Left leg pitch, roll, yaw, knee, ankle pitch, ankle roll
150,
150,
150,
300,
40,
40, # Right leg pitch, roll, yaw, knee, ankle pitch, ankle roll
250,
250,
250, # Waist yaw, roll, pitch
80,
80,
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
]
)
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
])
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
src/lerobot/robots/unitree_g1/g1_utils.py
+2 -1
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@@ -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
+3 -3
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@@ -16,7 +16,9 @@ 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:
@@ -38,7 +40,6 @@ def state_forward_loop(lowstate_sub, lowstate_sock, state_period: float):#read o
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)
@@ -52,7 +53,6 @@ def cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, crc: CRC):#send action to ro
pass
def main():
# initialize DDS
ChannelFactoryInitialize(0)
src/lerobot/robots/unitree_g1/unitree_g1.py
+4 -4
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@@ -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
@@ -52,7 +51,6 @@ H1_2_Num_Motors = 35
H1_Num_Motors = 20
class MotorState:
def __init__(self):
self.q = None # position
@@ -69,6 +67,7 @@ class IMUState:
self.rpy = None # [roll, pitch, yaw] (rad)
self.temperature = None # IMU temperature
# g1 observation class
class G1_29_LowState:
def __init__(self):
@@ -97,7 +96,6 @@ class UnitreeG1(Robot):
# unitree remote controller
class RemoteController:
def __init__(self):
self.lx = 0
self.ly = 0
@@ -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
+2 -2
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@@ -1,4 +1,5 @@
import pickle
import zmq
from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
@@ -12,8 +13,7 @@ LOWSTATE_PORT = 6001
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