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debug(unitree_g1): log effective controller axes + wireless override state

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-18 18:59:23 +02:00
parent 5c587f3feb
commit 7a08c30afc
1 changed files with 12 additions and 7 deletions
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src/lerobot/robots/unitree_g1/unitree_g1.py
+12 -7
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@@ -282,24 +282,29 @@ class UnitreeG1(Robot):
if lowstate is not None and self.controller is not None: if lowstate is not None and self.controller is not None:
loop_count += 1 loop_count += 1
if time.time() - last_log_time >= 5.0: # Log every 5 seconds
actual_hz = loop_count / (time.time() - last_log_time)
logger.info(
f"Controller actual rate: {actual_hz:.1f}Hz (target: {1.0 / control_dt:.1f}Hz)"
)
loop_count = 0
last_log_time = time.time()
# Read controller input snapshot # Read controller input snapshot
with self._controller_action_lock: with self._controller_action_lock:
controller_input = dict(self.controller_input) controller_input = dict(self.controller_input)
# Onboard: the physical Unitree remote (in local lowstate) takes # Onboard: the physical Unitree remote (in local lowstate) takes
# priority for locomotion when active; otherwise laptop/exo axes stand. # priority for locomotion when active; otherwise laptop/exo axes stand.
wl = None
if self.config.onboard: if self.config.onboard:
wl = self._wireless_remote_input(lowstate) wl = self._wireless_remote_input(lowstate)
if wl is not None: if wl is not None:
controller_input.update(wl) controller_input.update(wl)
if time.time() - last_log_time >= 5.0: # Log every 5 seconds
actual_hz = loop_count / (time.time() - last_log_time)
eff = {k: round(float(controller_input.get(k, 0.0)), 3) for k in REMOTE_AXES}
logger.info(
f"Controller {actual_hz:.1f}Hz | eff_axes={eff} "
f"wireless={'ACTIVE' if wl else 'idle'}"
)
loop_count = 0
last_log_time = time.time()
# Run controller step # Run controller step
controller_action = self.controller.run_step(controller_input, lowstate) controller_action = self.controller.run_step(controller_input, lowstate)