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This commit is contained in:
Martino Russi
2025-11-26 16:26:14 +01:00
parent 1bd91a04ce
commit d7481f653e
5 changed files with 416 additions and 331 deletions
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src/lerobot/robots/unitree_g1/config_unitree_g1.py
+29 -17
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@@ -24,7 +24,7 @@ from ..config import RobotConfig
@RobotConfig.register_subclass("unitree_g1")
@dataclass
class UnitreeG1Config(RobotConfig):
# id: str = "unitree_g1"
# id: str = "unitree_g1"
simulation_mode: bool = False
kp_high = 40.0
kd_high = 3.0
@@ -52,37 +52,49 @@ class UnitreeG1Config(RobotConfig):
# This robot class ONLY uses sockets to communicate with a bridge on the Orin
# Run 'python dds_to_socket.py' on the Orin first, then set this to the Orin's IP
# Example: socket_host="192.168.123.164" (Orin's wlan0 IP)
socket_host: str | None = None# = "172.18.129.215"
socket_host: str | None = None # = "172.18.129.215"
socket_port: int | None = None
# Locomotion control
locomotion_control: bool = True
#policy_path: str = "src/lerobot/robots/unitree_g1/assets/g1/locomotion/motion.pt"
policy_path: str = "src/lerobot/robots/unitree_g1/assets/g1/locomotion/GR00T-WholeBodyControl-Walk.onnx"
# policy_path: str = "src/lerobot/robots/unitree_g1/assets/g1/locomotion/motion.pt"
policy_path: str | None = None
# Locomotion parameters (from g1.yaml)
locomotion_control_dt: float = 0.02
leg_joint2motor_idx: list = field(default_factory=lambda: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11])
locomotion_kps: list = field(default_factory=lambda: [150, 150, 150, 300, 40, 40, 150, 150, 150, 300, 40, 40])
locomotion_kds: list = field(default_factory=lambda: [2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2])
default_leg_angles: list = field(default_factory=lambda: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, -0.1, 0.0, 0.0, 0.3, -0.2, 0.0])
arm_waist_joint2motor_idx: list = field(default_factory=lambda: [12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28])
locomotion_arm_waist_kps: list = field(default_factory=lambda: [250, 250, 250, 100, 100, 50, 50, 20, 20, 20, 100, 100, 50, 50, 20, 20, 20])
locomotion_arm_waist_kds: list = field(default_factory=lambda: [5, 5, 5, 2, 2, 2, 2, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1])
locomotion_arm_waist_target: list = field(default_factory=lambda: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
leg_joint2motor_idx: list = field(default_factory=lambda: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11])
locomotion_kps: list = field(
default_factory=lambda: [150, 150, 150, 300, 40, 40, 150, 150, 150, 300, 40, 40]
)
locomotion_kds: list = field(default_factory=lambda: [2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2])
default_leg_angles: list = field(
default_factory=lambda: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0, -0.1, 0.0, 0.0, 0.3, -0.2, 0.0]
)
arm_waist_joint2motor_idx: list = field(
default_factory=lambda: [12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28]
)
locomotion_arm_waist_kps: list = field(
default_factory=lambda: [250, 250, 250, 100, 100, 50, 50, 20, 20, 20, 100, 100, 50, 50, 20, 20, 20]
)
locomotion_arm_waist_kds: list = field(
default_factory=lambda: [5, 5, 5, 2, 2, 2, 2, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1]
)
locomotion_arm_waist_target: list = field(
default_factory=lambda: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
)
ang_vel_scale: float = 0.25
dof_pos_scale: float = 1.0
dof_vel_scale: float = 0.05
locomotion_action_scale: float = 0.25
cmd_scale: list = field(default_factory=lambda: [2.0, 2.0, 0.25])
# GR00T-specific scaling (different from regular locomotion!)
groot_ang_vel_scale: float = 0.25 # GR00T uses 0.5, not 0.25
groot_cmd_scale: list = field(default_factory=lambda: [2.0, 2.0, 0.25]) # yaw is 0.5 for GR00T
num_locomotion_actions: int = 12
num_locomotion_obs: int = 47
max_cmd: list = field(default_factory=lambda: [0.8, 0.5, 1.57])
locomotion_imu_type: str = "pelvis" # "torso" or "pelvis"
locomotion_imu_type: str = "pelvis" # "torso" or "pelvis"
src/lerobot/robots/unitree_g1/g1_utils.py
+67
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@@ -0,0 +1,67 @@
from enum import IntEnum
class G1_29_JointArmIndex(IntEnum):
# Left arm
kLeftShoulderPitch = 15
kLeftShoulderRoll = 16
kLeftShoulderYaw = 17
kLeftElbow = 18
kLeftWristRoll = 19
kLeftWristPitch = 20
kLeftWristyaw = 21
# Right arm
kRightShoulderPitch = 22
kRightShoulderRoll = 23
kRightShoulderYaw = 24
kRightElbow = 25
kRightWristRoll = 26
kRightWristPitch = 27
kRightWristYaw = 28
class G1_29_JointIndex(IntEnum):
# Left leg
kLeftHipPitch = 0
kLeftHipRoll = 1
kLeftHipYaw = 2
kLeftKnee = 3
kLeftAnklePitch = 4
kLeftAnkleRoll = 5
# Right leg
kRightHipPitch = 6
kRightHipRoll = 7
kRightHipYaw = 8
kRightKnee = 9
kRightAnklePitch = 10
kRightAnkleRoll = 11
kWaistYaw = 12 #we're c
kWaistRoll = 13
kWaistPitch = 14
# Left arm
kLeftShoulderPitch = 15
kLeftShoulderRoll = 16
kLeftShoulderYaw = 17
kLeftElbow = 18
kLeftWristRoll = 19
kLeftWristPitch = 20
kLeftWristyaw = 21
# Right arm
kRightShoulderPitch = 22
kRightShoulderRoll = 23
kRightShoulderYaw = 24
kRightElbow = 25
kRightWristRoll = 26
kRightWristPitch = 27
kRightWristYaw = 28
# not used
kNotUsedJoint0 = 29
kNotUsedJoint1 = 30
kNotUsedJoint2 = 31
kNotUsedJoint3 = 32
kNotUsedJoint4 = 33
kNotUsedJoint5 = 34
src/lerobot/robots/unitree_g1/robot_server.py
+5 -6
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@@ -1,20 +1,19 @@
#!/usr/bin/env python3
import time
import pickle
import threading
import time
import zmq
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
from unitree_sdk2py.core.channel import ChannelFactoryInitialize, ChannelPublisher, ChannelSubscriber
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as hg_LowCmd, LowState_ as hg_LowState
from unitree_sdk2py.utils.crc import CRC
from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
kTopicLowCommand_Debug = "rt/lowcmd"
kTopicLowState = "rt/lowstate"
LOWCMD_PORT = 6000 # laptop -> robot
LOWSTATE_PORT = 6001 # robot -> laptop
LOWCMD_PORT = 6000 # laptop -> robot
LOWSTATE_PORT = 6001 # robot -> laptop
def state_forward_loop(lowstate_sub, lowstate_sock, state_period: float):
src/lerobot/robots/unitree_g1/unitree_g1.py
+307 -301
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src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py
+8 -7
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@@ -1,17 +1,18 @@
# unitree_sdk2_socket.py
import zmq
import pickle
import time
import zmq
# you can tune these or read from env
ROBOT_IP = "172.18.129.215"
LOWCMD_PORT = 6000 # laptop -> robot
LOWSTATE_PORT = 6001 # robot -> laptop
LOWCMD_PORT = 6000 # laptop -> robot
LOWSTATE_PORT = 6001 # robot -> laptop
_ctx = None
_lowcmd_sock = None
_lowstate_sock = None
def ChannelFactoryInitialize(*args, **kwargs):
global _ctx, _lowcmd_sock, _lowstate_sock
if _ctx is not None:
@@ -20,12 +21,12 @@ def ChannelFactoryInitialize(*args, **kwargs):
# lowcmd: PUSH from laptop to robot
_lowcmd_sock = _ctx.socket(zmq.PUSH)
_lowcmd_sock.setsockopt(zmq.CONFLATE, 1)
_lowcmd_sock.setsockopt(zmq.CONFLATE, 1)
_lowcmd_sock.connect(f"tcp://{ROBOT_IP}:{LOWCMD_PORT}")
# lowstate: SUB from robot
_lowstate_sock = _ctx.socket(zmq.SUB) # no topic filtering
_lowstate_sock.setsockopt(zmq.CONFLATE, 1) # keep only last message
_lowstate_sock = _ctx.socket(zmq.SUB) # no topic filtering
_lowstate_sock.setsockopt(zmq.CONFLATE, 1) # keep only last message
_lowstate_sock.connect(f"tcp://{ROBOT_IP}:{LOWSTATE_PORT}")
_lowstate_sock.setsockopt_string(zmq.SUBSCRIBE, "") # subscribe to all