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feat(unitree_g1): publish commanded groot height/rpy in onboard state PUB

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The controller's commanded base height / torso orientation live only on the
robot (the joystick nudges them there), so publish them alongside the 29 joint
.q values. The laptop teleop recorder needs these to reconstruct the policy's
absolute height/rpy action channels in the exact training (hybrid) format.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-19 15:44:56 +02:00
parent 25d560d99e
commit ef61724974
1 changed files with 11 additions and 0 deletions
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src/lerobot/robots/unitree_g1/run_g1_onboard.py
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@@ -211,6 +211,17 @@ def main() -> None:
obs = robot.get_observation() obs = robot.get_observation()
if obs: if obs:
state = {f"{name}.q": float(obs.get(f"{name}.q", 0.0)) for name in joint_names} state = {f"{name}.q": float(obs.get(f"{name}.q", 0.0)) for name in joint_names}
# Also publish the controller's *commanded* base height / torso
# orientation. These live only on the robot (the joystick nudges
# them here), so the laptop recorder needs them to reconstruct the
# policy's absolute height/rpy action channels.
if robot.controller is not None:
state["groot.height"] = float(getattr(robot.controller, "groot_height_cmd", 0.0))
orient = getattr(robot.controller, "groot_orientation_cmd", None)
if orient is not None:
state["groot.rpy.roll"] = float(orient[0])
state["groot.rpy.pitch"] = float(orient[1])
state["groot.rpy.yaw"] = float(orient[2])
try: try:
state_sock.send_json(state, zmq.NOBLOCK) state_sock.send_json(state, zmq.NOBLOCK)
except zmq.Again: except zmq.Again: