simplify implementation

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -25,7 +25,6 @@ from ..config import RobotConfig
 @dataclass
 class UnitreeG1Config(RobotConfig):
    # id: str = "unitree_g1"
-    motion_mode: bool = False
     simulation_mode: bool = True
     kp_high = 40.0
     kd_high = 3.0
@@ -41,12 +40,9 @@ class UnitreeG1Config(RobotConfig):
     arm_velocity_limit = 100.0
     control_dt = 1.0 / 250.0
 
-    speed_gradual_max: bool = False
     gradual_start_time: float | None = None
     gradual_time: float | None = None
 
-    audio_client: bool = True
-
     freeze_body: bool = False
     gravity_compensation: bool = True
 
@@ -56,28 +52,14 @@ 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
+    socket_host: str | None = None# = "172.18.129.215"
     socket_port: int | None = None
 
     # Locomotion control
-    locomotion_control: bool = True
+    locomotion_control: bool = False
     #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"
     
-    # Motion imitation (dance_102, gangnam_style, etc)
-    motion_imitation_control: bool = False
-    motion_policy_path: str = "unitree_rl_lab/deploy/robots/g1_29dof/config/policy/mimic/dance_102/exported/policy.onnx"  # Use policy
-    #motion_policy_path: str = None  # Set to None for direct playback mode (no policy)
-    motion_file_path: str = "unitree_rl_lab/deploy/robots/g1_29dof/config/policy/mimic/dance_102/params/G1_Take_102.bvh_60hz.csv"
-    motion_fps: float = 60.0
-    motion_control_dt: float = 0.02
-
-    motion_joint_ids_map: list = field(default_factory=lambda: [0, 6, 12, 1, 7, 13, 2, 8, 14, 3, 9, 15, 22, 4, 10, 16, 23, 5, 11, 17, 24, 18, 25, 19, 26, 20, 27, 21, 28])
-    motion_stiffness: list = field(default_factory=lambda: [40.2, 99.1, 40.2, 99.1, 28.5, 28.5, 40.2, 99.1, 40.2, 99.1, 28.5, 28.5, 40.2, 28.5, 28.5, 14.3, 14.3, 14.3, 14.3, 14.3, 16.8, 16.8, 14.3, 14.3, 14.3, 14.3, 14.3, 16.8, 16.8])
-    motion_damping: list = field(default_factory=lambda: [2.56, 6.31, 2.56, 6.31, 1.81, 1.81, 2.56, 6.31, 2.56, 6.31, 1.81, 1.81, 2.56, 1.81, 1.81, 0.907, 0.907, 0.907, 0.907, 0.907, 1.07, 1.07, 0.907, 0.907, 0.907, 0.907, 0.907, 1.07, 1.07])
-    motion_default_joint_pos: list = field(default_factory=lambda: [-0.302, -0.319, 0.00124, 0.000442, 0.00489, 0.00191, 0.00929, 0.00796, 0.00546, 0.672, 0.67, 0.2, 0.202, -0.368, -0.355, 0.194, -0.196, -0.00644, 0.00976, 0.00258, -0.00029, 0.605, 0.596, 0.00818, 0.00322, 0.00293, -0.00339, -0.00955, -0.00715])
-    motion_action_scale: list = field(default_factory=lambda: [0.548, 0.548, 0.548, 0.351, 0.351, 0.439, 0.548, 0.548, 0.439, 0.351, 0.351, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.439, 0.0745, 0.0745, 0.0745, 0.0745])
-    
     # Locomotion parameters (from g1.yaml)
     locomotion_control_dt: float = 0.02
     

src/lerobot/robots/unitree_g1/robot_kinematic_processor.py

@@ -56,56 +56,6 @@ class WeightedMovingFilter:
         return self._filtered_data
 
 
-def visualize_filter_comparison(filter_params, steps):
-    import time
-
-    t = np.linspace(0, 4 * np.pi, steps)
-    original_data = np.array(
-        [np.sin(t + i) + np.random.normal(0, 0.2, len(t)) for i in range(35)]
-    ).T  # sin wave with noise, shape is [len(t), 35]
-
-    plt.figure(figsize=(14, 10))
-
-    for idx, weights in enumerate(filter_params):
-        filter = WeightedMovingFilter(weights, 14)
-        data_2b_filtered = original_data.copy()
-        filtered_data = []
-
-        time1 = time.time()
-
-        for i in range(steps):
-            filter.add_data(data_2b_filtered[i][13:27])  # step i, columns 13 to 26 (total:14)
-            data_2b_filtered[i][13:27] = filter.filtered_data
-            filtered_data.append(data_2b_filtered[i])
-
-        time2 = time.time()
-        print(f"filter_params:{filter_params[idx]}, time cosume:{time2 - time1}")
-
-        filtered_data = np.array(filtered_data)
-
-        # col0 should not 2b filtered
-        plt.subplot(len(filter_params), 2, idx * 2 + 1)
-        plt.plot(filtered_data[:, 0], label=f"Filtered (Window {filter._window_size})")
-        plt.plot(original_data[:, 0], "r--", label="Original", alpha=0.5)
-        plt.title("Joint 1 - Should not to be filtered.")
-        plt.xlabel("Step")
-        plt.ylabel("Value")
-        plt.legend()
- 
-        # col13 should 2b filtered
-        plt.subplot(len(filter_params), 2, idx * 2 + 2)
-        plt.plot(filtered_data[:, 13], label=f"Filtered (Window {filter._window_size})")
-        plt.plot(original_data[:, 13], "r--", label="Original", alpha=0.5)
-        plt.title(f"Joint 13 - Window {filter._window_size}, Weights {weights}")
-        plt.xlabel("Step")
-        plt.ylabel("Value")
-        plt.legend()
-
-    plt.tight_layout()
-    plt.show()
-
-
-
 class G1_29_ArmIK:
     def __init__(self, Unit_Test=False, Visualization=False):
         np.set_printoptions(precision=5, suppress=True, linewidth=200)

src/lerobot/robots/unitree_g1/robot_server.py

@@ -11,7 +11,6 @@ from unitree_sdk2py.utils.crc import CRC
 from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import MotionSwitcherClient
 
 kTopicLowCommand_Debug = "rt/lowcmd"
-kTopicLowCommand_Motion = "rt/arm_sdk"
 kTopicLowState = "rt/lowstate"
 
 LOWCMD_PORT = 6000      # laptop -> robot
@@ -43,7 +42,7 @@ def state_forward_loop(lowstate_sub, lowstate_sock, state_period: float):
             last_state_time = now
 
 
-def cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, lowcmd_pub_motion, crc: CRC):
+def cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, crc: CRC):
     """
     read lowcmd from laptop (zmq) and push to dds.
     runs in its own thread.
@@ -58,8 +57,6 @@ def cmd_forward_loop(lowcmd_sock, lowcmd_pub_debug, lowcmd_pub_motion, crc: CRC)
 
         if topic == kTopicLowCommand_Debug:
             lowcmd_pub_debug.Write(cmd)
-        elif topic == kTopicLowCommand_Motion:
-            lowcmd_pub_motion.Write(cmd)
         else:
             # ignore unknown topics
             pass
@@ -84,9 +81,7 @@ def main():
 
     # dds publishers / subscriber
     lowcmd_pub_debug = ChannelPublisher(kTopicLowCommand_Debug, hg_LowCmd)
-    lowcmd_pub_motion = ChannelPublisher(kTopicLowCommand_Motion, hg_LowCmd)
     lowcmd_pub_debug.Init()
-    lowcmd_pub_motion.Init()
 
     lowstate_sub = ChannelSubscriber(kTopicLowState, hg_LowState)
     lowstate_sub.Init()
@@ -112,7 +107,7 @@ def main():
     )
     t_cmd = threading.Thread(
         target=cmd_forward_loop,
-        args=(lowcmd_sock, lowcmd_pub_debug, lowcmd_pub_motion, crc),
+        args=(lowcmd_sock, lowcmd_pub_debug, crc),
         daemon=True,
     )