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fix(unitree_g1): correct SDK detection and update installation docs (#3115)

Browse Source 
* update docs

* update toml / docs

* update docs

* fix joystick

* Update pyproject.toml

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>

* update toml and docs

* update docs

* clarify robot

* update docs

* update docs

* update pinocchio deps

* final touches

* Update docs/source/unitree_g1.mdx

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>

* move envhub dependencies to docs

* point to unitree_sdk docs

* upper bound on onnx

* chore(docs): small details unitree docs

* chore(deps): add version pin and unitree_sdk hint

---------

Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
This commit is contained in:
Martino Russi
2026-03-09 18:47:12 +01:00
committed by GitHub
parent b0efa73520
commit 885ef91892
3 changed files with 87 additions and 47 deletions
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docs/source/unitree_g1.mdx
+84 -43
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@@ -12,36 +12,59 @@ The Unitree G1 humanoid is now supported in LeRobot! You can teleoperate, train
## Part 1: Getting Started ## Part 1: Getting Started
### Install LeRobot on Your Machine ### Install the Unitree SDK
Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation). Tested with `unitree_sdk2py==1.0.1` and `cyclonedds==0.10.2`:
```bash ```bash
conda create -y -n lerobot python=3.12 conda create -y -n lerobot python=3.12
conda activate lerobot conda activate lerobot
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python && pip install -e . cd unitree_sdk2_python
pip install -e .
cd ..
```
### Install LeRobot
```bash
conda install ffmpeg -c conda-forge
conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
git clone https://github.com/huggingface/lerobot.git git clone https://github.com/huggingface/lerobot.git
cd lerobot cd lerobot
pip install -e '.[unitree_g1]' pip install -e '.[unitree_g1]'
``` ```
<Tip>
For now, pinocchio must be installed from conda-forge (not pip) to include the
CasADi bindings needed for arm IK.
</Tip>
### Test the Installation (Simulation) ### Test the Installation (Simulation)
The simulation environment has its own dependencies. Check the Simulation environment dependencies: [Unitree G1 Mujoco EnvHub](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main).
```bash
pip install mujoco loguru msgpack msgpack-numpy
```
```bash ```bash
lerobot-teleoperate \ lerobot-teleoperate \
--robot.type=unitree_g1 \ --robot.type=unitree_g1 \
--robot.is_simulation=true \ --robot.is_simulation=true \
--teleop.type=unitree_g1 \ --teleop.type=unitree_g1 \
--teleop.id=wbc_unitree \ --teleop.id=wbc_unitree \
--robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \ --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30, "warmup_s": 5}}' \
--display_data=true --display_data=true \
--robot.controller=GrootLocomotionController
``` ```
This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1. This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1. You can connect a gamepad to your machine before launching in order to control the robot's locomotion in sim. We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) via `--robot.controller`.
- Press `9` to release the robot - Press `9` to release the robot
- Press `7` / `8` to increase / decrease waist height - Press `7` / `8` to increase / decrease waist height
### Connect to the Robot ### Connect to the Physical Robot
The G1's Ethernet IP is fixed at `192.168.123.164`. Your machine must have a static IP on the same subnet: `192.168.123.x` where `x ≠ 164`. The G1's Ethernet IP is fixed at `192.168.123.164`. Your machine must have a static IP on the same subnet: `192.168.123.x` where `x ≠ 164`.
@@ -59,37 +82,11 @@ ssh unitree@192.168.123.164
# Password: 123 # Password: 123
``` ```
### Install LeRobot on the G1 ### Share Internet via Ethernet
From the robot: The G1 needs internet access to clone repos and install packages. Share your laptop's connection over Ethernet:
```bash **On your laptop:**
conda create -y -n lerobot python=3.12
conda activate lerobot
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python && pip install -e .
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e '.[unitree_g1]'
```
> **Note:** The Unitree SDK requires CycloneDDS v0.10.2. See the [Unitree SDK docs](https://github.com/unitreerobotics/unitree_sdk2_python) for details.
---
## Part 2: Enable WiFi on the Robot
Wi-Fi connectivity is blocked by default on the G1. To activate:
```bash
sudo rfkill unblock all
sudo ip link set wlan0 up
sudo nmcli radio wifi on
sudo nmcli device set wlan0 managed yes
sudo systemctl restart NetworkManager
```
**On your laptop** (share internet via Ethernet):
```bash ```bash
sudo sysctl -w net.ipv4.ip_forward=1 sudo sysctl -w net.ipv4.ip_forward=1
@@ -100,7 +97,7 @@ sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTA
sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
``` ```
**On the G1** (set default route through your laptop): **On the G1:**
```bash ```bash
sudo ip route del default 2>/dev/null || true sudo ip route del default 2>/dev/null || true
@@ -111,6 +108,45 @@ echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
ping -c 3 8.8.8.8 ping -c 3 8.8.8.8
``` ```
### Install the Unitree SDK on the G1
Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation):
```bash
conda create -y -n lerobot python=3.12
conda activate lerobot
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
python -m pip install -e .
cd ..
```
### Install LeRobot on the G1
```bash
git clone https://github.com/huggingface/lerobot.git
cd lerobot
conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
python -m pip install -e '.[unitree_g1]'
```
<Tip>
For now, pinocchio must be installed from conda-forge (not pip) to include the
CasADi bindings needed for arm IK.
</Tip>
### (Optional) Enable WiFi on the Robot
For wireless SSH access, you can enable WiFi on the G1 (it's blocked by default):
```bash
sudo rfkill unblock all
sudo ip link set wlan0 up
sudo nmcli radio wifi on
sudo nmcli device set wlan0 managed yes
sudo systemctl restart NetworkManager
```
**Connect to a WiFi network:** **Connect to a WiFi network:**
```bash ```bash
@@ -125,7 +161,7 @@ sudo nmcli connection up "YourNetwork"
ip a show wlan0 ip a show wlan0
``` ```
You can now SSH over WiFi: You can then SSH over WiFi instead of Ethernet:
```bash ```bash
ssh unitree@<ROBOT_WIFI_IP> ssh unitree@<ROBOT_WIFI_IP>
@@ -134,18 +170,23 @@ ssh unitree@<ROBOT_WIFI_IP>
--- ---
## Part 3: Teleoperation & Locomotion ## Part 2: Teleoperation & Locomotion
### Run the Robot Server ### Run the Robot Server
On the robot: On the robot (from `~/lerobot`):
```bash ```bash
cd ~/lerobot
python src/lerobot/robots/unitree_g1/run_g1_server.py --camera python src/lerobot/robots/unitree_g1/run_g1_server.py --camera
``` ```
### Run the Locomotion Policy ### Run the Locomotion Policy
You can run the teleoperation client from your laptop over Ethernet, over WiFi (experimental), or directly on the robot itself. Mind potential latency introduced by your network.
**From your laptop:**
```bash ```bash
lerobot-teleoperate \ lerobot-teleoperate \
--robot.type=unitree_g1 \ --robot.type=unitree_g1 \
@@ -158,13 +199,13 @@ lerobot-teleoperate \
--robot.controller=HolosomaLocomotionController --robot.controller=HolosomaLocomotionController
``` ```
We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl). We support both [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) and [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) via `--robot.controller`.
--- ---
## Part 4: Loco-Manipulation with the Homunculus Exoskeleton ## Part 3: Loco-Manipulation with the Homunculus Exoskeleton
We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Assembly instructions [here](https://github.com/nepyope/hmc_exo). We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Check it out [here](https://github.com/nepyope/hmc_exo).
### Calibrate ### Calibrate
@@ -205,7 +246,7 @@ Example dataset: [nepyope/unitree_box_move_blue_full](https://huggingface.co/dat
--- ---
## Part 5: Training & Inference ## Part 4: Training & Inference
### Train ### Train
pyproject.toml
+2 -3
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@@ -119,14 +119,13 @@ gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"] hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"] lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
unitree_g1 = [ unitree_g1 = [
"unitree-sdk2==1.0.1", # "unitree-sdk2==1.0.1",
"pyzmq>=26.2.1,<28.0.0", "pyzmq>=26.2.1,<28.0.0",
"onnxruntime>=1.16.0,<2.0.0", "onnxruntime>=1.16.0,<2.0.0",
"pin>=3.0.0,<4.0.0", "onnx>=1.16.0,<2.0.0",
"meshcat>=0.3.0,<0.4.0", "meshcat>=0.3.0,<0.4.0",
"lerobot[matplotlib-dep]", "lerobot[matplotlib-dep]",
"lerobot[pygame-dep]", "lerobot[pygame-dep]",
"casadi>=3.6.0,<4.0.0",
] ]
reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"] reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
kinematics = ["lerobot[placo-dep]"] kinematics = ["lerobot[placo-dep]"]
src/lerobot/utils/import_utils.py
+1 -1
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@@ -74,7 +74,7 @@ _peft_available = is_package_available("peft")
_scipy_available = is_package_available("scipy") _scipy_available = is_package_available("scipy")
_reachy2_sdk_available = is_package_available("reachy2_sdk") _reachy2_sdk_available = is_package_available("reachy2_sdk")
_can_available = is_package_available("python-can", "can") _can_available = is_package_available("python-can", "can")
_unitree_sdk_available = is_package_available("unitree-sdk2", "unitree_sdk2py") _unitree_sdk_available = is_package_available("unitree-sdk2py", "unitree_sdk2py")
_pygame_available = is_package_available("pygame") _pygame_available = is_package_available("pygame")