edit holosoma

examples/unitree_g1/holosoma_locomotion.py

@@ -0,0 +1,479 @@
+#!/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.
+"""
+Example: Holosoma Whole-Body Locomotion (23-DOF and 29-DOF)
+
+This example demonstrates loading Holosoma whole-body locomotion policies
+and running them on the Unitree G1 robot.
+
+Supports both:
+- 23-DOF native policies (82D observations, 23D actions)
+- 29-DOF policies (100D observations, 29D actions)
+"""
+
+import argparse
+import logging
+import threading
+import time
+
+import numpy as np
+import onnxruntime as ort
+from huggingface_hub import hf_hub_download
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+# =============================================================================
+# 29-DOF Configuration
+# =============================================================================
+# fmt: off
+HOLOSOMA_29DOF_DEFAULT_ANGLES = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # left leg
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # right leg
+    0.0, 0.0, 0.0,                          # waist (yaw, roll, pitch)
+    0.2, 0.2, 0.0, 0.6, 0.0, 0.0, 0.0,     # left arm
+    0.2, -0.2, 0.0, 0.6, 0.0, 0.0, 0.0,    # right arm
+], dtype=np.float32)
+
+HOLOSOMA_29DOF_KP = np.array([
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # left leg
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # right leg
+    40.179238471, 28.501246196, 28.501246196,  # waist
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098, 16.778327481, 16.778327481,  # left arm
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098, 16.778327481, 16.778327481,  # right arm
+], dtype=np.float32)
+
+HOLOSOMA_29DOF_KD = np.array([
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # left leg
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # right leg
+    2.557889765, 1.814445687, 1.814445687,  # waist
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843, 1.068141502, 1.068141502,  # left arm
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843, 1.068141502, 1.068141502,  # right arm
+], dtype=np.float32)
+
+# =============================================================================
+# 23-DOF Configuration (native G1-23: no waist_roll/pitch, no wrist_pitch/yaw)
+# Derived from 29-DOF Holosoma values
+# =============================================================================
+# Joint order: 6 left leg, 6 right leg, 1 waist_yaw, 5 left arm, 5 right arm
+HOLOSOMA_23DOF_DEFAULT_ANGLES = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # left leg (from 29-DOF)
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,  # right leg (from 29-DOF)
+    0.0,                                    # waist_yaw only (from 29-DOF)
+    0.2, 0.2, 0.0, 0.6, 0.0,               # left arm first 5 joints (from 29-DOF)
+    0.2, -0.2, 0.0, 0.6, 0.0,              # right arm first 5 joints (from 29-DOF)
+], dtype=np.float32)
+
+HOLOSOMA_23DOF_KP = np.array([
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # left leg
+    40.179238471, 99.098427777, 40.179238471, 99.098427777, 28.501246196, 28.501246196,  # right leg
+    40.179238471,                                                                         # waist_yaw
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098,                 # left arm
+    14.250623098, 14.250623098, 14.250623098, 14.250623098, 14.250623098,                 # right arm
+], dtype=np.float32)
+
+HOLOSOMA_23DOF_KD = np.array([
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # left leg
+    2.557889765, 6.308801854, 2.557889765, 6.308801854, 1.814445687, 1.814445687,  # right leg
+    2.557889765,                                                                    # waist_yaw
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843,               # left arm
+    0.907222843, 0.907222843, 0.907222843, 0.907222843, 0.907222843,               # right arm
+], dtype=np.float32)
+
+# Maps 23-DOF policy index → 29-DOF motor index
+# 23-DOF: legs(0-11), waist_yaw(12), L_arm(13-17), R_arm(18-22)
+# 29-DOF: legs(0-11), waist(12-14), L_arm(15-21), R_arm(22-28)
+DOF_23_TO_MOTOR_MAP = [
+    0, 1, 2, 3, 4, 5,       # left leg → motor 0-5
+    6, 7, 8, 9, 10, 11,     # right leg → motor 6-11
+    12,                      # waist_yaw → motor 12
+    15, 16, 17, 18, 19,     # left arm (skip wrist_pitch/yaw) → motor 15-19
+    22, 23, 24, 25, 26,     # right arm (skip wrist_pitch/yaw) → motor 22-26
+]
+# fmt: on
+
+# Control parameters
+LOCOMOTION_CONTROL_DT = 0.02  # 50Hz
+LOCOMOTION_ACTION_SCALE = 0.25
+ANG_VEL_SCALE = 0.25
+DOF_POS_SCALE = 1.0
+DOF_VEL_SCALE = 0.05
+GAIT_PERIOD = 1.0
+
+DEFAULT_HOLOSOMA_REPO_ID = "nepyope/holosoma_locomotion"
+
+
+def load_holosoma_policy(
+    repo_id: str = DEFAULT_HOLOSOMA_REPO_ID,
+    policy_name: str = "fastsac",
+    local_path: str | None = None,
+) -> tuple[ort.InferenceSession, int]:
+    """Load Holosoma policy and detect observation dimension.
+
+    Returns:
+        (policy, obs_dim) tuple where obs_dim is 82 (23-DOF) or 100 (29-DOF)
+    """
+    if local_path is not None:
+        logger.info(f"Loading policy from local path: {local_path}")
+        policy_path = local_path
+    else:
+        logger.info(f"Loading policy from Hugging Face Hub: {repo_id}")
+        policy_path = hf_hub_download(repo_id=repo_id, filename=f"{policy_name}_g1_29dof.onnx")
+
+    policy = ort.InferenceSession(policy_path)
+
+    # Detect observation dimension from model input shape
+    input_shape = policy.get_inputs()[0].shape
+    obs_dim = input_shape[1] if len(input_shape) > 1 else input_shape[0]
+
+    logger.info(f"Policy loaded successfully")
+    logger.info(f"  Input: {policy.get_inputs()[0].name}, shape: {input_shape} → obs_dim={obs_dim}")
+    logger.info(f"  Output: {policy.get_outputs()[0].name}, shape: {policy.get_outputs()[0].shape}")
+
+    return policy, obs_dim
+
+
+class HolosomaLocomotionController:
+    """
+    Handles Holosoma whole-body locomotion for Unitree G1.
+    Supports both 23-DOF (82D obs) and 29-DOF (100D obs) policies.
+    """
+
+    def __init__(self, policy, robot, config, obs_dim: int = 100):
+        self.policy = policy
+        self.robot = robot
+        self.config = config
+        self.obs_dim = obs_dim
+
+        # Detect policy type from observation dimension
+        self.is_23dof = (obs_dim == 82)
+        self.num_dof = 23 if self.is_23dof else 29
+
+        # Velocity commands
+        self.locomotion_cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+
+        # State variables sized for policy type
+        self.qj = np.zeros(self.num_dof, dtype=np.float32)
+        self.dqj = np.zeros(self.num_dof, dtype=np.float32)
+        self.locomotion_action = np.zeros(self.num_dof, dtype=np.float32)
+        self.locomotion_obs = np.zeros(obs_dim, dtype=np.float32)
+        self.last_unscaled_action = np.zeros(self.num_dof, dtype=np.float32)
+
+        # Select config based on DOF
+        if self.is_23dof:
+            self.default_angles = HOLOSOMA_23DOF_DEFAULT_ANGLES
+            self.kp = HOLOSOMA_23DOF_KP
+            self.kd = HOLOSOMA_23DOF_KD
+            self.motor_map = DOF_23_TO_MOTOR_MAP
+        else:
+            self.default_angles = HOLOSOMA_29DOF_DEFAULT_ANGLES
+            self.kp = HOLOSOMA_29DOF_KP
+            self.kd = HOLOSOMA_29DOF_KD
+            self.motor_map = list(range(29))  # Identity map for 29-DOF
+
+        # Phase state for gait
+        self.phase = np.zeros((1, 2), dtype=np.float32)
+        self.phase[0, 0] = 0.0
+        self.phase[0, 1] = np.pi
+        self.phase_dt = 2 * np.pi / (50.0 * GAIT_PERIOD)
+        self.is_standing = False
+
+        self.counter = 0
+        self.locomotion_running = False
+        self.locomotion_thread = None
+
+        logger.info(f"HolosomaLocomotionController initialized")
+        logger.info(f"  Mode: {'23-DOF (82D obs)' if self.is_23dof else '29-DOF (100D obs)'}")
+        logger.info(f"  Action dim: {self.num_dof}")
+
+    def holosoma_locomotion_run(self):
+        """Main locomotion loop - handles both 23-DOF and 29-DOF."""
+        self.counter += 1
+
+        if self.counter == 1:
+            print("\n" + "=" * 60)
+            print(f"🚀 RUNNING HOLOSOMA {self.num_dof}-DOF LOCOMOTION POLICY")
+            print(f"   {self.obs_dim}D observations → {self.num_dof}D actions")
+            print("=" * 60 + "\n")
+
+        robot_state = self.robot.get_observation()
+        if robot_state is None:
+            return
+
+        # Remote controller
+        if robot_state.wireless_remote is not None:
+            self.robot.remote_controller.set(robot_state.wireless_remote)
+        else:
+            self.robot.remote_controller.lx = 0.0
+            self.robot.remote_controller.ly = 0.0
+            self.robot.remote_controller.rx = 0.0
+            self.robot.remote_controller.ry = 0.0
+
+        # Deadzone
+        ly = self.robot.remote_controller.ly if abs(self.robot.remote_controller.ly) > 0.1 else 0.0
+        lx = self.robot.remote_controller.lx if abs(self.robot.remote_controller.lx) > 0.1 else 0.0
+        rx = self.robot.remote_controller.rx if abs(self.robot.remote_controller.rx) > 0.1 else 0.0
+
+        self.locomotion_cmd[0] = ly
+        self.locomotion_cmd[1] = -lx
+        self.locomotion_cmd[2] = -rx
+
+        # Read joint states using motor map
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            self.qj[i] = robot_state.motor_state[motor_idx].q
+            self.dqj[i] = robot_state.motor_state[motor_idx].dq
+
+        # IMU
+        quat = robot_state.imu_state.quaternion
+        ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
+        gravity_orientation = self.robot.get_gravity_orientation(quat)
+
+        # Scale observations
+        qj_obs = (self.qj - self.default_angles) * DOF_POS_SCALE
+        dqj_obs = self.dqj * DOF_VEL_SCALE
+        ang_vel_scaled = ang_vel * ANG_VEL_SCALE
+
+        # Phase update
+        cmd_norm = np.linalg.norm(self.locomotion_cmd[:2])
+        ang_cmd_norm = np.abs(self.locomotion_cmd[2])
+
+        if cmd_norm < 0.01 and ang_cmd_norm < 0.01:
+            self.phase[0, :] = np.pi * np.ones(2)
+            self.is_standing = True
+        elif self.is_standing:
+            self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+            self.is_standing = False
+        else:
+            phase_tp1 = self.phase + self.phase_dt
+            self.phase = np.fmod(phase_tp1 + np.pi, 2 * np.pi) - np.pi
+
+        sin_phase = np.sin(self.phase[0, :])
+        cos_phase = np.cos(self.phase[0, :])
+
+        # Build observation (format depends on DOF)
+        if self.is_23dof:
+            # 82D: [23 actions, 3 ang_vel, 1 cmd_yaw, 2 cmd_lin, 2 cos, 23 pos, 23 vel, 3 grav, 2 sin]
+            self.locomotion_obs[0:23] = self.last_unscaled_action
+            self.locomotion_obs[23:26] = ang_vel_scaled
+            self.locomotion_obs[26] = self.locomotion_cmd[2]
+            self.locomotion_obs[27:29] = self.locomotion_cmd[:2]
+            self.locomotion_obs[29:31] = cos_phase
+            self.locomotion_obs[31:54] = qj_obs
+            self.locomotion_obs[54:77] = dqj_obs
+            self.locomotion_obs[77:80] = gravity_orientation
+            self.locomotion_obs[80:82] = sin_phase
+        else:
+            # 100D: [29 actions, 3 ang_vel, 1 cmd_yaw, 2 cmd_lin, 2 cos, 29 pos, 29 vel, 3 grav, 2 sin]
+            self.locomotion_obs[0:29] = self.last_unscaled_action
+            self.locomotion_obs[29:32] = ang_vel_scaled
+            self.locomotion_obs[32] = self.locomotion_cmd[2]
+            self.locomotion_obs[33:35] = self.locomotion_cmd[:2]
+            self.locomotion_obs[35:37] = cos_phase
+            self.locomotion_obs[37:66] = qj_obs
+            self.locomotion_obs[66:95] = dqj_obs
+            self.locomotion_obs[95:98] = gravity_orientation
+            self.locomotion_obs[98:100] = sin_phase
+
+        # Policy inference
+        obs_input = self.locomotion_obs.reshape(1, -1).astype(np.float32)
+        ort_inputs = {self.policy.get_inputs()[0].name: obs_input}
+        ort_outs = self.policy.run(None, ort_inputs)
+
+        raw_action = ort_outs[0].squeeze()
+        clipped_action = np.clip(raw_action, -100.0, 100.0)
+
+        self.last_unscaled_action = clipped_action.copy()
+        self.locomotion_action = clipped_action * LOCOMOTION_ACTION_SCALE
+
+        # Debug
+        if self.counter <= 3:
+            print(f"\n[Holosoma Debug #{self.counter}]")
+            print(f"  Phase: ({self.phase[0, 0]:.3f}, {self.phase[0, 1]:.3f})")
+            print(f"  Cmd: ({self.locomotion_cmd[0]:.2f}, {self.locomotion_cmd[1]:.2f}, {self.locomotion_cmd[2]:.2f})")
+            print(f"  Action range: [{raw_action.min():.3f}, {raw_action.max():.3f}]")
+
+        # Compute target positions
+        target_dof_pos = self.default_angles + self.locomotion_action
+
+        # Send commands to motors via motor map
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            self.robot.msg.motor_cmd[motor_idx].q = target_dof_pos[i]
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = self.kp[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = self.kd[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # For 23-DOF: zero out missing joints (waist_roll/pitch, wrist_pitch/yaw)
+        if self.is_23dof:
+            missing_motors = [13, 14, 20, 21, 27, 28]  # waist_roll, waist_pitch, wrist_pitch/yaw
+            for motor_idx in missing_motors:
+                self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = 40.0
+                self.robot.msg.motor_cmd[motor_idx].kd = 2.0
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+
+    def _locomotion_thread_loop(self):
+        logger.info("Locomotion thread started")
+        while self.locomotion_running:
+            start_time = time.time()
+            try:
+                self.holosoma_locomotion_run()
+            except Exception as e:
+                logger.error(f"Error in locomotion loop: {e}")
+                import traceback
+                traceback.print_exc()
+
+            elapsed = time.time() - start_time
+            sleep_time = max(0, LOCOMOTION_CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+        logger.info("Locomotion thread stopped")
+
+    def start_locomotion_thread(self):
+        if self.locomotion_running:
+            logger.warning("Locomotion thread already running")
+            return
+        logger.info("Starting locomotion control thread...")
+        self.locomotion_running = True
+        self.locomotion_thread = threading.Thread(target=self._locomotion_thread_loop, daemon=True)
+        self.locomotion_thread.start()
+        logger.info("Locomotion control thread started!")
+
+    def stop_locomotion_thread(self):
+        if not self.locomotion_running:
+            return
+        logger.info("Stopping locomotion control thread...")
+        self.locomotion_running = False
+        if self.locomotion_thread:
+            self.locomotion_thread.join(timeout=2.0)
+        logger.info("Locomotion control thread stopped")
+
+    def reset_robot(self):
+        """Move joints to default position."""
+        logger.info(f"Moving {self.num_dof} joints to default position...")
+
+        total_time = 3.0
+        num_step = int(total_time / self.robot.control_dt)
+
+        robot_state = self.robot.get_observation()
+
+        # Record current positions
+        init_dof_pos = np.zeros(self.num_dof, dtype=np.float32)
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            init_dof_pos[i] = robot_state.motor_state[motor_idx].q
+
+        # Interpolate to target
+        for step in range(num_step):
+            alpha = step / num_step
+            for i in range(self.num_dof):
+                motor_idx = self.motor_map[i]
+                target = self.default_angles[i]
+                self.robot.msg.motor_cmd[motor_idx].q = init_dof_pos[i] * (1 - alpha) + target * alpha
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = self.kp[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = self.kd[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Zero missing joints for 23-DOF
+            if self.is_23dof:
+                for motor_idx in [13, 14, 20, 21, 27, 28]:
+                    self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                    self.robot.msg.motor_cmd[motor_idx].qd = 0
+                    self.robot.msg.motor_cmd[motor_idx].kp = 40.0
+                    self.robot.msg.motor_cmd[motor_idx].kd = 2.0
+                    self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info(f"Reached default position ({self.num_dof} joints)")
+
+        # Hold for 2 seconds
+        logger.info("Holding default position for 2 seconds...")
+        hold_steps = int(2.0 / self.robot.control_dt)
+        for _ in range(hold_steps):
+            for i in range(self.num_dof):
+                motor_idx = self.motor_map[i]
+                self.robot.msg.motor_cmd[motor_idx].q = self.default_angles[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = self.kp[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = self.kd[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            if self.is_23dof:
+                for motor_idx in [13, 14, 20, 21, 27, 28]:
+                    self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                    self.robot.msg.motor_cmd[motor_idx].qd = 0
+                    self.robot.msg.motor_cmd[motor_idx].kp = 40.0
+                    self.robot.msg.motor_cmd[motor_idx].kd = 2.0
+                    self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info("Ready to start locomotion!")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Holosoma Locomotion Controller for Unitree G1")
+    parser.add_argument("--repo-id", type=str, default=DEFAULT_HOLOSOMA_REPO_ID)
+    parser.add_argument("--policy", type=str, default="fastsac", choices=["fastsac", "ppo"])
+    parser.add_argument("--local-path", type=str, default=None, help="Path to local ONNX file")
+    args = parser.parse_args()
+
+    # Load policy and detect dimensions
+    policy, obs_dim = load_holosoma_policy(
+        repo_id=args.repo_id,
+        policy_name=args.policy,
+        local_path=args.local_path,
+    )
+
+    # Initialize robot
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+
+    # Initialize controller with detected obs_dim
+    controller = HolosomaLocomotionController(
+        policy=policy,
+        robot=robot,
+        config=config,
+        obs_dim=obs_dim,
+    )
+
+    try:
+        controller.reset_robot()
+        controller.start_locomotion_thread()
+
+        logger.info(f"Robot initialized with Holosoma {'23-DOF' if obs_dim == 82 else '29-DOF'} policy")
+        logger.info("Use remote controller: LY=fwd/back, LX=left/right, RX=rotate")
+        logger.info("Press Ctrl+C to stop")
+
+        while True:
+            time.sleep(1.0)
+    except KeyboardInterrupt:
+        print("\nStopping locomotion...")
+        controller.stop_locomotion_thread()
+        print("Done!")

examples/unitree_g1/unitree_rl_locomotion.py

@@ -0,0 +1,447 @@
+#!/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.
+"""
+Example: Unitree RL 12-DOF Legs-Only Locomotion (TorchScript)
+
+This example demonstrates loading a 12-DOF legs-only locomotion policy
+(TorchScript .pt format) and running it on the Unitree G1 robot.
+
+Key characteristics:
+- Single TorchScript policy (.pt)
+- 47D observations, 12D actions (legs only)
+- Phase-based gait timing
+- Arms and waist held at fixed positions
+"""
+
+import argparse
+import logging
+import threading
+import time
+
+import numpy as np
+import torch
+from huggingface_hub import hf_hub_download
+from scipy.spatial.transform import Rotation as R
+
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+# 12-DOF leg joint configuration
+# Joint order: [L_hip_pitch, L_hip_roll, L_hip_yaw, L_knee, L_ankle_pitch, L_ankle_roll,
+#               R_hip_pitch, R_hip_roll, R_hip_yaw, R_knee, R_ankle_pitch, R_ankle_roll]
+LEG_JOINT_INDICES = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
+
+# Default leg angles for standing
+DEFAULT_LEG_ANGLES = np.array([
+    -0.1, 0.0, 0.0, 0.3, -0.2, 0.0,   # left leg
+    -0.1, 0.0, 0.0, 0.3, -0.2, 0.0,   # right leg
+], dtype=np.float32)
+
+# KP/KD for leg joints
+LEG_KPS = np.array([150, 150, 150, 300, 40, 40, 150, 150, 150, 300, 40, 40], dtype=np.float32)
+LEG_KDS = np.array([6, 6, 6, 4, 2, 2, 6, 6, 6, 4, 2, 2], dtype=np.float32)
+
+# Waist configuration (held at zero)
+WAIST_JOINT_INDICES = [12, 13, 14]  # yaw, roll, pitch
+WAIST_KPS = np.array([250, 250, 250], dtype=np.float32)
+WAIST_KDS = np.array([5, 5, 5], dtype=np.float32)
+
+# Arm configuration (indices 15-28, held at initial position)
+ARM_JOINT_INDICES = list(range(15, 29))
+ARM_KPS = np.array([80, 80, 80, 80, 40, 40, 40,   # left arm (shoulder + wrist)
+                   80, 80, 80, 80, 40, 40, 40], dtype=np.float32)  # right arm
+ARM_KDS = np.array([3, 3, 3, 3, 1.5, 1.5, 1.5,
+                   3, 3, 3, 3, 1.5, 1.5, 1.5], dtype=np.float32)
+
+# Control parameters
+LOCOMOTION_CONTROL_DT = 0.02  # 50Hz control rate
+LOCOMOTION_ACTION_SCALE = 0.25
+ANG_VEL_SCALE = 0.25
+DOF_POS_SCALE = 1.0
+DOF_VEL_SCALE = 0.05
+CMD_SCALE = np.array([2.0, 2.0, 0.25], dtype=np.float32)
+MAX_CMD = np.array([0.8, 0.5, 1.57], dtype=np.float32)  # max vx, vy, yaw_rate
+
+# Gait parameters
+GAIT_PERIOD = 0.8  # seconds
+
+DEFAULT_REPO_ID = "nepyope/unitree_rl_locomotion"
+
+
+def load_torchscript_policy(
+    repo_id: str = DEFAULT_REPO_ID,
+    filename: str = "motion.pt",
+) -> torch.jit.ScriptModule:
+    """Load TorchScript locomotion policy from Hugging Face Hub.
+
+    Args:
+        repo_id: Hugging Face Hub repository ID containing the policy.
+        filename: Policy filename (default: motion.pt).
+    """
+    logger.info(f"Loading TorchScript policy from Hugging Face Hub ({repo_id}/{filename})...")
+
+    policy_path = hf_hub_download(
+        repo_id=repo_id,
+        filename=filename,
+    )
+
+    policy = torch.jit.load(policy_path)
+    policy.eval()
+
+    logger.info("TorchScript policy loaded successfully")
+
+    return policy
+
+
+class UnitreeRLLocomotionController:
+    """
+    Handles 12-DOF legs-only locomotion control for the Unitree G1 robot.
+
+    This controller manages:
+    - Single TorchScript policy
+    - 47D observations (single frame)
+    - 12D action output (legs only)
+    - Arms and waist held at fixed positions
+    - Phase-based gait timing
+    """
+
+    def __init__(self, policy, robot, config):
+        self.policy = policy
+        self.robot = robot
+        self.config = config
+
+        # Velocity commands (vx, vy, yaw_rate)
+        self.locomotion_cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+
+        # State variables (12 DOF legs)
+        self.qj = np.zeros(12, dtype=np.float32)
+        self.dqj = np.zeros(12, dtype=np.float32)
+        self.locomotion_action = np.zeros(12, dtype=np.float32)
+        self.locomotion_obs = np.zeros(47, dtype=np.float32)
+
+        # Initial arm positions (captured on reset)
+        self.initial_arm_positions = np.zeros(14, dtype=np.float32)
+
+        # Counter for phase calculation
+        self.counter = 0
+
+        # Thread management
+        self.locomotion_running = False
+        self.locomotion_thread = None
+
+        logger.info("UnitreeRLLocomotionController initialized")
+        logger.info("  Observation dim: 47, Action dim: 12 (legs only)")
+
+    def locomotion_run(self):
+        """12-DOF legs-only locomotion policy loop."""
+        self.counter += 1
+
+        if self.counter == 1:
+            print("\n" + "=" * 60)
+            print("🚀 RUNNING UNITREE RL 12-DOF LOCOMOTION POLICY")
+            print("   47D observations → 12D actions (legs only)")
+            print("   Arms and waist held at fixed positions")
+            print("=" * 60 + "\n")
+
+        # Get current observation
+        robot_state = self.robot.get_observation()
+        if robot_state is None:
+            return
+
+        # Get command from remote controller
+        if robot_state.wireless_remote is not None:
+            self.robot.remote_controller.set(robot_state.wireless_remote)
+        else:
+            self.robot.remote_controller.lx = 0.0
+            self.robot.remote_controller.ly = 0.0
+            self.robot.remote_controller.rx = 0.0
+            self.robot.remote_controller.ry = 0.0
+
+        self.locomotion_cmd[0] = self.robot.remote_controller.ly       # forward/backward
+        self.locomotion_cmd[1] = self.robot.remote_controller.lx * -1  # left/right (inverted)
+        self.locomotion_cmd[2] = self.robot.remote_controller.rx * -1  # yaw (inverted)
+
+        # Get leg joint positions and velocities (12 DOF)
+        for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+            self.qj[i] = robot_state.motor_state[motor_idx].q
+            self.dqj[i] = robot_state.motor_state[motor_idx].dq
+
+        # Get IMU data
+        quat = robot_state.imu_state.quaternion
+        ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
+
+        # Scale observations
+        gravity_orientation = self.robot.get_gravity_orientation(quat)
+        qj_obs = (self.qj - DEFAULT_LEG_ANGLES) * DOF_POS_SCALE
+        dqj_obs = self.dqj * DOF_VEL_SCALE
+        ang_vel_scaled = ang_vel * ANG_VEL_SCALE
+
+        # Calculate phase
+        count = self.counter * LOCOMOTION_CONTROL_DT
+        phase = (count % GAIT_PERIOD) / GAIT_PERIOD
+        sin_phase = np.sin(2 * np.pi * phase)
+        cos_phase = np.cos(2 * np.pi * phase)
+
+        # Build 47D observation vector
+        # [0:3]   - angular velocity (scaled)
+        # [3:6]   - gravity orientation
+        # [6:9]   - velocity command (scaled)
+        # [9:21]  - joint positions (12D, relative to default)
+        # [21:33] - joint velocities (12D, scaled)
+        # [33:45] - previous actions (12D)
+        # [45]    - sin_phase
+        # [46]    - cos_phase
+        self.locomotion_obs[0:3] = ang_vel_scaled
+        self.locomotion_obs[3:6] = gravity_orientation
+        self.locomotion_obs[6:9] = self.locomotion_cmd * CMD_SCALE * MAX_CMD
+        self.locomotion_obs[9:21] = qj_obs
+        self.locomotion_obs[21:33] = dqj_obs
+        self.locomotion_obs[33:45] = self.locomotion_action
+        self.locomotion_obs[45] = sin_phase
+        self.locomotion_obs[46] = cos_phase
+
+        # Run policy inference (TorchScript)
+        obs_tensor = torch.from_numpy(self.locomotion_obs).unsqueeze(0).float()
+        with torch.no_grad():
+            action_tensor = self.policy(obs_tensor)
+        self.locomotion_action = action_tensor.squeeze().numpy()
+
+        # Transform action to target joint positions
+        target_leg_pos = DEFAULT_LEG_ANGLES + self.locomotion_action * LOCOMOTION_ACTION_SCALE
+
+        # Debug logging (first 3 iterations)
+        if self.counter <= 3:
+            print(f"\n[Unitree RL Debug #{self.counter}]")
+            print(f"  Phase: {phase:.3f} (sin={sin_phase:.3f}, cos={cos_phase:.3f})")
+            print(f"  Cmd (vx, vy, yaw): ({self.locomotion_cmd[0]:.2f}, {self.locomotion_cmd[1]:.2f}, {self.locomotion_cmd[2]:.2f})")
+            print(f"  Action range: [{self.locomotion_action.min():.3f}, {self.locomotion_action.max():.3f}]")
+
+        # Send commands to LEG motors (0-11)
+        for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+            self.robot.msg.motor_cmd[motor_idx].q = target_leg_pos[i]
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = LEG_KPS[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = LEG_KDS[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # Hold WAIST motors at zero (12, 13, 14)
+        for i, motor_idx in enumerate(WAIST_JOINT_INDICES):
+            self.robot.msg.motor_cmd[motor_idx].q = 0.0
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = WAIST_KPS[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = WAIST_KDS[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # Hold ARM motors at initial position (15-28)
+        for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+            self.robot.msg.motor_cmd[motor_idx].q = self.initial_arm_positions[i]
+            self.robot.msg.motor_cmd[motor_idx].qd = 0
+            self.robot.msg.motor_cmd[motor_idx].kp = ARM_KPS[i]
+            self.robot.msg.motor_cmd[motor_idx].kd = ARM_KDS[i]
+            self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+        # Send command
+        self.robot.send_action(self.robot.msg)
+
+    def _locomotion_thread_loop(self):
+        """Background thread that runs the locomotion policy at specified rate."""
+        logger.info("Locomotion thread started")
+        while self.locomotion_running:
+            start_time = time.time()
+            try:
+                self.locomotion_run()
+            except Exception as e:
+                logger.error(f"Error in locomotion loop: {e}")
+                import traceback
+                traceback.print_exc()
+
+            # Sleep to maintain control rate
+            elapsed = time.time() - start_time
+            sleep_time = max(0, LOCOMOTION_CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+        logger.info("Locomotion thread stopped")
+
+    def start_locomotion_thread(self):
+        if self.locomotion_running:
+            logger.warning("Locomotion thread already running")
+            return
+
+        logger.info("Starting locomotion control thread...")
+        self.locomotion_running = True
+        self.locomotion_thread = threading.Thread(target=self._locomotion_thread_loop, daemon=True)
+        self.locomotion_thread.start()
+
+        logger.info("Locomotion control thread started!")
+
+    def stop_locomotion_thread(self):
+        if not self.locomotion_running:
+            return
+
+        logger.info("Stopping locomotion control thread...")
+        self.locomotion_running = False
+        if self.locomotion_thread:
+            self.locomotion_thread.join(timeout=2.0)
+        logger.info("Locomotion control thread stopped")
+
+    def reset_robot(self):
+        """Move legs to default standing position over 2 seconds (arms are captured and held)."""
+        logger.info("Moving legs to default position...")
+
+        total_time = 2.0
+        num_step = int(total_time / self.robot.control_dt)
+
+        # Get current state
+        robot_state = self.robot.get_observation()
+
+        # Capture initial arm positions (to hold during locomotion)
+        for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+            self.initial_arm_positions[i] = robot_state.motor_state[motor_idx].q
+        logger.info(f"Captured initial arm positions: {self.initial_arm_positions[:4]}...")
+
+        # Record current leg positions
+        init_leg_pos = np.zeros(12, dtype=np.float32)
+        for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+            init_leg_pos[i] = robot_state.motor_state[motor_idx].q
+
+        # Interpolate legs to default position
+        for step in range(num_step):
+            alpha = step / num_step
+
+            # Interpolate leg positions
+            for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+                target_pos = DEFAULT_LEG_ANGLES[i]
+                self.robot.msg.motor_cmd[motor_idx].q = (
+                    init_leg_pos[i] * (1 - alpha) + target_pos * alpha
+                )
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = LEG_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = LEG_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold waist at zero
+            for i, motor_idx in enumerate(WAIST_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = WAIST_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = WAIST_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold arms at initial position
+            for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = self.initial_arm_positions[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = ARM_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = ARM_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info("Reached default leg position")
+
+        # Hold position for 2 seconds
+        logger.info("Holding default position for 2 seconds...")
+        hold_time = 2.0
+        num_hold_steps = int(hold_time / self.robot.control_dt)
+
+        for _ in range(num_hold_steps):
+            # Hold legs at default
+            for i, motor_idx in enumerate(LEG_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = DEFAULT_LEG_ANGLES[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = LEG_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = LEG_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold waist at zero
+            for i, motor_idx in enumerate(WAIST_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = 0.0
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = WAIST_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = WAIST_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            # Hold arms at initial position
+            for i, motor_idx in enumerate(ARM_JOINT_INDICES):
+                self.robot.msg.motor_cmd[motor_idx].q = self.initial_arm_positions[i]
+                self.robot.msg.motor_cmd[motor_idx].qd = 0
+                self.robot.msg.motor_cmd[motor_idx].kp = ARM_KPS[i]
+                self.robot.msg.motor_cmd[motor_idx].kd = ARM_KDS[i]
+                self.robot.msg.motor_cmd[motor_idx].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(self.robot.control_dt)
+
+        logger.info("Ready to start locomotion!")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Unitree RL 12-DOF Locomotion Controller for Unitree G1")
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        default=DEFAULT_REPO_ID,
+        help=f"Hugging Face Hub repo ID for policy (default: {DEFAULT_REPO_ID})",
+    )
+    parser.add_argument(
+        "--filename",
+        type=str,
+        default="motion.pt",
+        help="Policy filename (default: motion.pt)",
+    )
+    args = parser.parse_args()
+
+    # Load policy
+    policy = load_torchscript_policy(repo_id=args.repo_id, filename=args.filename)
+
+    # Initialize robot
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+
+    # Initialize locomotion controller
+    locomotion_controller = UnitreeRLLocomotionController(
+        policy=policy,
+        robot=robot,
+        config=config,
+    )
+
+    # Reset robot and start locomotion thread
+    try:
+        locomotion_controller.reset_robot()
+        locomotion_controller.start_locomotion_thread()
+
+        # Log status
+        logger.info("Robot initialized with Unitree RL locomotion policy")
+        logger.info("Locomotion controller running in background thread")
+        logger.info("Use remote controller to command velocity:")
+        logger.info("  Left stick Y: forward/backward")
+        logger.info("  Left stick X: left/right")
+        logger.info("  Right stick X: rotate")
+        logger.info("Press Ctrl+C to stop")
+
+        # Keep robot alive
+        while True:
+            time.sleep(1.0)
+    except KeyboardInterrupt:
+        print("\nStopping locomotion...")
+        locomotion_controller.stop_locomotion_thread()
+        print("Done!")
+

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -52,4 +52,4 @@ class UnitreeG1Config(RobotConfig):
     control_dt: float = 1.0 / 250.0  # 250Hz
 
     # socket config for ZMQ bridge
-    robot_ip: str = "192.168.123.164"
+    robot_ip: str = "172.18.129.215"

src/lerobot/robots/unitree_g1/run_g1_server.py

@@ -99,11 +99,12 @@ def state_forward_loop(
     lowstate_sub: ChannelSubscriber,
     lowstate_sock: zmq.Socket,
     state_period: float,
+    shutdown_event: threading.Event,
 ) -> None:
     """Read observation from DDS and forward to ZMQ clients."""
     last_state_time = 0.0
 
-    while True:
+    while not shutdown_event.is_set():
         # read from DDS
         msg = lowstate_sub.Read()
         if msg is None:
@@ -128,7 +129,10 @@ def cmd_forward_loop(
 ) -> None:
     """Receive commands from ZMQ and forward to DDS."""
     while True:
-        payload = lowcmd_sock.recv()
+        try:
+            payload = lowcmd_sock.recv()
+        except zmq.ContextTerminated:
+            break
         msg_dict = json.loads(payload.decode("utf-8"))
 
         topic = msg_dict.get("topic", "")
@@ -182,30 +186,26 @@ def main() -> None:
     lowstate_sock.bind(f"tcp://0.0.0.0:{LOWSTATE_PORT}")
 
     state_period = 0.002  # ~500 hz
+    shutdown_event = threading.Event()
 
-    # start observation forwarding thread
+    # start observation forwarding in background thread
     t_state = threading.Thread(
         target=state_forward_loop,
-        args=(lowstate_sub, lowstate_sock, state_period),
-        daemon=True,
+        args=(lowstate_sub, lowstate_sock, state_period, shutdown_event),
     )
     t_state.start()
 
-    # start action forwarding thread
-    t_cmd = threading.Thread(
-        target=cmd_forward_loop,
-        args=(lowcmd_sock, lowcmd_pub_debug, crc),
-        daemon=True,
-    )
-    t_cmd.start()
-
     print("bridge running (lowstate -> zmq, lowcmd -> dds)")
-    # keep main thread alive so daemon threads don't exit
+
+    # run command forwarding in main thread
     try:
-        while True:
-            time.sleep(1.0)
+        cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, crc)
     except KeyboardInterrupt:
         print("shutting down bridge...")
+    finally:
+        shutdown_event.set()
+        ctx.term()  # terminates blocking zmq.recv() calls
+        t_state.join(timeout=2.0)
 
 
 if __name__ == "__main__":

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -138,8 +138,8 @@ class UnitreeG1(Robot):
         self.lowstate_buffer = DataBuffer()
 
         # initialize subscribe thread to read robot state
+        self._shutdown_event = threading.Event()
         self.subscribe_thread = threading.Thread(target=self._subscribe_motor_state)
-        self.subscribe_thread.daemon = True
         self.subscribe_thread.start()
 
         while not self.is_connected:
@@ -174,7 +174,7 @@ class UnitreeG1(Robot):
         self.remote_controller = self.RemoteController()
 
     def _subscribe_motor_state(self):  # polls robot state @ 250Hz
-        while True:
+        while not self._shutdown_event.is_set():
             start_time = time.time()
             msg = self.lowstate_subscriber.Read()
             if msg is not None:
@@ -221,7 +221,8 @@ class UnitreeG1(Robot):
         ChannelFactoryInitialize(0)
 
     def disconnect(self):
-        pass
+        self._shutdown_event.set()
+        self.subscribe_thread.join(timeout=2.0)
 
     def get_observation(self) -> dict[str, Any]:
         return self.lowstate_buffer.get_data()