begin unitree_g1 integration

src/lerobot/robots/unitree_g1/__init__.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .config_unitree_g1 import UnitreeG1Config
+from .unitree_g1 import UnitreeG1

src/lerobot/robots/unitree_g1/arm_calibration.json

@@ -0,0 +1,108 @@
+{
+    "kLeftShoulderPitch.pos": {
+        "id": 0,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -3,
+        "range_max": 2.6
+    },
+    "kLeftShoulderYaw.pos": {
+        "id": 1,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -2.6,
+        "range_max": 2.6
+    },
+    "kLeftShoulderRoll.pos": {
+        "id": 2,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -0.1,
+        "range_max": 2.2
+    },
+    "kLeftElbow.pos": {
+        "id": 3,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -1,
+        "range_max": 2
+    },
+    "kLeftWristRoll.pos": {
+        "id": 4,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -1.9,
+        "range_max": 1.9
+    },
+    "kLeftWristYaw.pos": {
+        "id": 5,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": 0.0,
+        "range_max": 0.0
+    },
+    "kLeftWristyaw.pos": {
+        "id": 5,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": 0.0,
+        "range_max": 0.0
+    },
+    "kLeftWristPitch.pos": {
+        "id": 6,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": 0.0,
+        "range_max": 0.0
+    },
+
+    "kRightShoulderPitch.pos": {
+        "id": 0,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -3.0,
+        "range_max": 2.6
+    },
+    "kRightShoulderYaw.pos": {
+        "id": 1,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -2.6,
+        "range_max": 2.6
+    },
+    "kRightShoulderRoll.pos": {
+        "id": 2,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -2.2,
+        "range_max": 0.1
+    },
+    "kRightElbow.pos": {
+        "id": 3,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -1,
+        "range_max": 2
+    },
+    "kRightWristRoll.pos": {
+        "id": 4,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": -1.9,
+        "range_max": 1.9
+    },
+    "kRightWristYaw.pos": {
+        "id": 5,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": 0.0,
+        "range_max": 0.0
+    },
+    "kRightWristPitch.pos": {
+        "id": 6,
+        "drive_mode": 0,
+        "homing_offset": 0,
+        "range_min": 0.0,
+        "range_max": 0.0
+    }
+}

src/lerobot/robots/unitree_g1/config_hope_jr.py

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+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass, field
+
+from lerobot.cameras import CameraConfig
+
+from ..config import RobotConfig
+
+
+@RobotConfig.register_subclass("hope_jr_arm")
+@dataclass
+class HopeJrArmConfig(RobotConfig):
+    port: str  # Port to connect to the hand
+    disable_torque_on_disconnect: bool = True
+
+    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
+    # names to the max_relative_target value for that motor.
+    max_relative_target: float | dict[str, float] | None = None
+
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/unitree_g1/config_unitree_g1.py

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+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass, field
+
+from lerobot.cameras import CameraConfig
+
+from ..config import RobotConfig
+
+
+@RobotConfig.register_subclass("unitree_g1")
+@dataclass
+class UnitreeG1Config(RobotConfig):
+   # id: str = "unitree_g1"
+    motion_mode: bool = False
+    simulation_mode: bool = False
+    kp_high = 40.0
+    kd_high = 3.0
+    kp_low = 80.0
+    kd_low = 3.0
+    kp_wrist = 40.0
+    kd_wrist = 1.5
+    all_motor_q = None
+    arm_velocity_limit = 100.0
+    control_dt = 1.0 / 250.0
+
+    all_motor_q = None
+    arm_velocity_limit = 100.0
+    control_dt = 1.0 / 250.0
+
+    speed_gradual_max = False
+    gradual_start_time = None
+    gradual_time = None
+
+    freeze_body = False
+
+    gravity_compensation = True

src/lerobot/robots/unitree_g1/eval_robot/assets/brainco_hand/brainco.yml

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+left:
+  type: DexPilot # or vector
+  urdf_path: brainco_hand/brainco_left.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: 
+    [
+      "left_thumb_metacarpal_joint",
+      "left_thumb_proximal_joint",
+      "left_index_proximal_joint",
+      "left_middle_proximal_joint",
+      "left_ring_proximal_joint",
+      "left_pinky_proximal_joint",
+    ]
+
+  # for DexPilot type
+  wrist_link_name: "base_link"
+  finger_tip_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
+  # If you do not know exactly how it is used, please leave it to None for default.
+  target_link_human_indices_dexpilot: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
+
+  # for vector type
+  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
+  target_task_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
+  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # Scaling factor for vector retargeting only
+  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
+  scaling_factor: 0.90
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2
+
+right:
+  type: DexPilot # or vector
+  urdf_path: brainco_hand/brainco_right.urdf
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: 
+    [
+      "right_thumb_metacarpal_joint",
+      "right_thumb_proximal_joint",
+      "right_index_proximal_joint",
+      "right_middle_proximal_joint",
+      "right_ring_proximal_joint",
+      "right_pinky_proximal_joint",
+    ]
+  # for DexPilot type
+  wrist_link_name: "base_link"
+  finger_tip_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
+  target_link_human_indices_dexpilot: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
+  
+  # for vector type
+  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
+  target_task_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
+  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # Scaling factor for vector retargeting only
+  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
+  scaling_factor: 0.90
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.2

src/lerobot/robots/unitree_g1/eval_robot/assets/g1/.gitignore

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+*.gv
+*.pdf

src/lerobot/robots/unitree_g1/eval_robot/assets/g1/README.md

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+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
+
+MJCF/URDF for the G1 robot:
+
+| MJCF/URDF file name           | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
+| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
+| `g1_23dof`                    |       1        |           14.5           | Beta          |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof`                    |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand`          |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist`         |       3        |           14.5           | Beta          |   6*2   |     1     |   7*2   |    0     |
+| `g1_23dof_rev_1_0`            |       4        |           22.5           | Up-to-date    |   6*2   |     1     |   5*2   |    0     |
+| `g1_29dof_rev_1_0`            |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |    0     |
+| `g1_29dof_with_hand_rev_1_0`  |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |   7*2    |
+| `g1_29dof_lock_waist_rev_1_0` |       6        |           22.5           | Up-to-date    |   6*2   |     1     |   7*2   |    0     |
+| `g1_dual_arm`                 |       9        |           null           | Up-to-date    |    0    |     0     |   7*2   |    0     |
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+   ```bash
+   pip install mujoco
+   python -m mujoco.viewer
+   ```
+
+2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
+
+## Note for teleoperate
+g1_body29_hand14 is modified from [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf)