add motion imitation

* add sim support

* close fix threading issues

.github/workflows/documentation-upload-pr.yml

@@ -31,7 +31,8 @@ jobs:
     name: Upload Preview and Comment
     if: >
       github.event.workflow_run.event == 'pull_request' &&
-      github.event.workflow_run.conclusion == 'success'
+      github.event.workflow_run.conclusion == 'success' &&
+      github.repository == 'huggingface/lerobot'
     uses: huggingface/doc-builder/.github/workflows/upload_pr_documentation.yml@main
     with:
       package_name: lerobot

.github/workflows/documentation.yml

@@ -42,7 +42,9 @@ jobs:
   # This job builds and deploys the official documentation.
   build_main_docs:
     name: Build Main Docs
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
+    if: >
+      (github.event_name == 'push' || github.event_name == 'workflow_dispatch') &&
+      github.repository == 'huggingface/lerobot'
     permissions:
       contents: read
     uses: huggingface/doc-builder/.github/workflows/build_main_documentation.yml@main
@@ -58,7 +60,7 @@ jobs:
   # The result of this job triggers the 'Upload PR Documentation' workflow.
   build_pr_docs:
     name: Build PR Docs
-    if: github.event_name == 'pull_request'
+    if: github.event_name == 'pull_request' && github.repository == 'huggingface/lerobot'
     permissions:
       contents: read
       pull-requests: write

.github/workflows/fast_tests.yml

@@ -45,7 +45,6 @@ permissions:
 env:
   UV_VERSION: "0.8.0"
   PYTHON_VERSION: "3.10"
-  DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
 
 # Ensures that only the latest commit for a PR or branch is built, canceling older runs.
 concurrency:

.github/workflows/nightly.yml

@@ -43,6 +43,7 @@ jobs:
     name: Build CPU Docker for Nightly
     runs-on:
       group: aws-general-8-plus
+    if: github.repository == 'huggingface/lerobot'
     outputs:
       image_tag: ${{ env.DOCKER_IMAGE_NAME_CPU }}
     steps:
@@ -77,6 +78,7 @@ jobs:
     name: Build GPU Docker for Nightly
     runs-on:
       group: aws-general-8-plus
+    if: github.repository == 'huggingface/lerobot'
     outputs:
       image_tag: ${{ env.DOCKER_IMAGE_NAME_GPU }}
     steps:

.github/workflows/release.yml

@@ -29,6 +29,7 @@ jobs:
   build-and-publish:
     name: Build and publish Python distributions
     runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
     outputs:
       version: ${{ steps.extract_info.outputs.tag_version }}
     permissions:

.github/workflows/stale.yml

@@ -45,6 +45,7 @@ jobs:
   stale:
     name: Close Stale Issues and PRs
     runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
     permissions:
       actions: write
       contents: write # only for delete-branch option

.github/workflows/unbound_deps_tests.yml

@@ -43,6 +43,7 @@ jobs:
   full-tests:
     name: Full Unbound Tests
     runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
     env:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface

docs/source/_toctree.yml

@@ -92,6 +92,10 @@
   - local: phone_teleop
     title: Phone
   title: "Teleoperators"
+- sections:
+  - local: torch_accelerators
+    title: PyTorch accelerators
+  title: "Supported Hardware"
 - sections:
   - local: notebooks
     title: Notebooks

docs/source/torch_accelerators.mdx

@@ -0,0 +1,42 @@
+# PyTorch accelerators
+
+LeRobot supports multiple hardware acceleration options for both training and inference.
+
+These options include:
+
+- **CPU**: CPU executes all computations, no dedicated accelerator is used
+- **CUDA**: acceleration with NVIDIA & AMD GPUs
+- **MPS**: acceleration with Apple Silicon GPUs
+- **XPU**: acceleration with Intel integrated and discrete GPUs
+
+## Getting Started
+
+To use particular accelerator, a suitable version of PyTorch should be installed.
+
+For CPU, CUDA, and MPS backends follow instructions provided on [PyTorch installation page](https://pytorch.org/get-started/locally).
+For XPU backend, follow instructions from [PyTorch documentation](https://docs.pytorch.org/docs/stable/notes/get_start_xpu.html).
+
+### Verifying the installation
+
+After installation, accelerator availability can be verified by running
+
+```python
+import torch
+print(torch.<backend_name>.is_available())  # <backend_name> is cuda, mps, or xpu
+```
+
+## How to run training or evaluation
+
+To select the desired accelerator, use the `--policy.device` flag when running `lerobot-train` or `lerobot-eval`. For example, to use MPS on Apple Silicon, run:
+
+```bash
+lerobot-train
+    --policy.device=mps ...
+```
+
+```bash
+lerobot-eval \
+    --policy.device=mps ...
+```
+
+However, in most cases, presence of an accelerator is detected automatically and `policy.device` parameter can be omitted from CLI commands.

docs/source/unitree_g1.mdx

@@ -4,11 +4,12 @@ This guide covers the complete setup process for the Unitree G1 humanoid, from i
 
 ## About the Unitree G1
 
-We offer support for both 29 and 23 DOF G1. In this first PR we introduce:
+We offer support for both 29 and 23 DOF G1. We introduce:
 
 - **`unitree g1` robot class, handling low level communication with the humanoid**
 - **ZMQ socket bridge** for remote communication over WiFi, allowing one to deploy policies remotely instead of over ethernet or directly on the Orin
 - **GR00T locomotion policy** for bipedal walking and balance
+- **MuJoCo simulation mode** for testing policies without the physical robot
 
 ---
 
@@ -191,6 +192,10 @@ Press `Ctrl+C` to stop the policy.
 
 ---
 
+## Extra: Running in Simulation Mode (MuJoCo)
+
+You can now test and develop policies without a physical robot using MuJoCo. to do so set `is_simulation=True` in config.
+
 ## Additional Resources
 
 - [Unitree SDK Documentation](https://github.com/unitreerobotics/unitree_sdk2_python)

docs/source/using_dataset_tools.mdx

@@ -11,13 +11,14 @@ LeRobot provides several utilities for manipulating datasets:
 3. **Merge Datasets** - Combine multiple datasets into one. The datasets must have identical features, and episodes are concatenated in the order specified in `repo_ids`
 4. **Add Features** - Add new features to a dataset
 5. **Remove Features** - Remove features from a dataset
+6. **Convert to Video** - Convert image-based datasets to video format for efficient storage
 
 The core implementation is in `lerobot.datasets.dataset_tools`.
 An example script detailing how to use the tools API is available in `examples/dataset/use_dataset_tools.py`.
 
 ## Command-Line Tool: lerobot-edit-dataset
 
-`lerobot-edit-dataset` is a command-line script for editing datasets. It can be used to delete episodes, split datasets, merge datasets, add features, and remove features.
+`lerobot-edit-dataset` is a command-line script for editing datasets. It can be used to delete episodes, split datasets, merge datasets, add features, remove features, and convert image datasets to video format.
 
 Run `lerobot-edit-dataset --help` for more information on the configuration of each operation.
 
@@ -86,9 +87,71 @@ lerobot-edit-dataset \
     --operation.feature_names "['observation.images.top']"
 ```
 
+#### Convert to Video
+
+Convert an image-based dataset to video format, creating a new LeRobotDataset where images are stored as videos. This is useful for reducing storage requirements and improving data loading performance. The new dataset will have the exact same structure as the original, but with images encoded as MP4 videos in the proper LeRobot format.
+
+```bash
+# Local-only: Save to a custom output directory (no hub push)
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir /path/to/output/pusht_video
+
+# Save with new repo_id (local storage)
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --new_repo_id lerobot/pusht_video \
+    --operation.type convert_to_video
+
+# Convert and push to Hugging Face Hub
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --new_repo_id lerobot/pusht_video \
+    --operation.type convert_to_video \
+    --push_to_hub true
+
+# Convert with custom video codec and quality settings
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir outputs/pusht_video \
+    --operation.vcodec libsvtav1 \
+    --operation.pix_fmt yuv420p \
+    --operation.g 2 \
+    --operation.crf 30
+
+# Convert only specific episodes
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir outputs/pusht_video \
+    --operation.episode_indices "[0, 1, 2, 5, 10]"
+
+# Convert with multiple workers for parallel processing
+lerobot-edit-dataset \
+    --repo_id lerobot/pusht_image \
+    --operation.type convert_to_video \
+    --operation.output_dir outputs/pusht_video \
+    --operation.num_workers 8
+```
+
+**Parameters:**
+
+- `output_dir`: Custom output directory (optional - by default uses `new_repo_id` or `{repo_id}_video`)
+- `vcodec`: Video codec to use - options: `h264`, `hevc`, `libsvtav1` (default: `libsvtav1`)
+- `pix_fmt`: Pixel format - options: `yuv420p`, `yuv444p` (default: `yuv420p`)
+- `g`: Group of pictures (GOP) size - lower values give better quality but larger files (default: 2)
+- `crf`: Constant rate factor - lower values give better quality but larger files, 0 is lossless (default: 30)
+- `fast_decode`: Fast decode tuning option (default: 0)
+- `episode_indices`: List of specific episodes to convert (default: all episodes)
+- `num_workers`: Number of parallel workers for processing (default: 4)
+
+**Note:** The resulting dataset will be a proper LeRobotDataset with all cameras encoded as videos in the `videos/` directory, with parquet files containing only metadata (no raw image data). All episodes, stats, and tasks are preserved.
+
 ### Push to Hub
 
-Add the `--push_to_hub` flag to any command to automatically upload the resulting dataset to the Hugging Face Hub:
+Add the `--push_to_hub true` flag to any command to automatically upload the resulting dataset to the Hugging Face Hub:
 
 ```bash
 lerobot-edit-dataset \
@@ -96,7 +159,7 @@ lerobot-edit-dataset \
     --new_repo_id lerobot/pusht_after_deletion \
     --operation.type delete_episodes \
     --operation.episode_indices "[0, 2, 5]" \
-    --push_to_hub
+    --push_to_hub true
 ```
 
 There is also a tool for adding features to a dataset that is not yet covered in `lerobot-edit-dataset`.

docs/source/xvla.mdx

@@ -24,7 +24,7 @@ Built from pure Transformer encoders, X-VLA scales naturally with model size and
   <img
     src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture2.png"
     alt="XVLA Architecture 2"
-    style="width: 32%; max-width: 450px; height: auto;"
+    style="width: 60%; height: auto;"
   />
 </p>
 
@@ -120,7 +120,7 @@ Adapted for Google Robot platforms.
 
 ### Recommended Training Configuration
 
-When fine-tuning X-VLA for a new embodiment or task, we recommend the following freezing strategy:
+When fine-tuning X-VLA for a new embodiment or task, we recommend not freezing the VLM, and also setting the `policy.dtype=bfloat16` to not hit OOM errors.
 
 ```bash
 lerobot-train \
@@ -129,25 +129,26 @@ lerobot-train \
   --job_name=xvla_training \
   --policy.path="lerobot/xvla-base" \
   --policy.repo_id="HF_USER/xvla-your-robot" \
-  --steps=3000 \
+  --policy.dtype=bfloat16 \
+  --policy.action_mode=auto \
+  --steps=20000 \
   --policy.device=cuda \
-  --policy.freeze_vision_encoder=True \
-  --policy.freeze_language_encoder=True \
-  --policy.train_policy_transformer=True \
-  --policy.train_soft_prompts=True \
-  --policy.action_mode=YOUR_ACTION_MODE
+  --policy.freeze_vision_encoder=false \
+  --policy.freeze_language_encoder=false \
+  --policy.train_policy_transformer=true \
+  --policy.train_soft_prompts=true \
 ```
 
 ### Training Parameters Explained
 
-| Parameter                  | Default | Description                              |
-| -------------------------- | ------- | ---------------------------------------- |
-| `freeze_vision_encoder`    | `True`  | Freeze the VLM vision encoder weights    |
-| `freeze_language_encoder`  | `True`  | Freeze the VLM language encoder weights  |
-| `train_policy_transformer` | `True`  | Allow policy transformer layers to train |
-| `train_soft_prompts`       | `True`  | Allow soft prompts to train              |
+| Parameter                  | Default | Description                                    |
+| -------------------------- | ------- | ---------------------------------------------- |
+| `freeze_vision_encoder`    | `false` | Do not freeze the VLM vision encoder weights   |
+| `freeze_language_encoder`  | `false` | Do not freeze the VLM language encoder weights |
+| `train_policy_transformer` | `true`  | Allow policy transformer layers to train       |
+| `train_soft_prompts`       | `true`  | Allow soft prompts to train                    |
 
-**💡 Best Practice**: For Phase II adaptation to new embodiments, freeze the VLM encoders and only train the policy transformer and soft prompts. This provides excellent sample efficiency with minimal compute.
+**💡 Best Practice**: For Phase II adaptation to new embodiments, do not freeze the VLM encoders and also train the policy transformer and soft prompts.
 
 ### Example: Training on Bimanual Robot
 
@@ -157,14 +158,15 @@ lerobot-train \
   --output_dir=./outputs/xvla_bimanual \
   --job_name=xvla_so101_training \
   --policy.path="lerobot/xvla-base" \
+  --policy.dtype=bfloat16 \
   --policy.repo_id="YOUR_USERNAME/xvla-biso101" \
   --steps=3000 \
   --policy.device=cuda \
   --policy.action_mode=so101_bimanual \
-  --policy.freeze_vision_encoder=True \
-  --policy.freeze_language_encoder=True \
-  --policy.train_policy_transformer=True \
-  --policy.train_soft_prompts=True
+  --policy.freeze_vision_encoder=false \
+  --policy.freeze_language_encoder=false \
+  --policy.train_policy_transformer=true \
+  --policy.train_soft_prompts=true
 ```
 
 💡 **Best Performance:** If you have sufficient computational resources and want to achieve best X-VLA finetuning performance, you should follow the official finetuning strategy:
@@ -172,71 +174,7 @@ lerobot-train \
 **🔥 Full-finetune all components with a custom learning-rate scheme**
 
 To ensure stable optimization, the Vision-Language Model (VLM) must be trained with only 1/10 of the base learning rate, while all other components use the full LR.
-This LR ratio is crucial for achieving strong and stable finetuning performance.
-To enable this behavior, you must:
-
-1. Implement a custom optimizer and register it in your training config
-
-```
-from dataclasses import dataclass, asdict
-from lerobot.optim.optimizers import OptimizerConfig
-import torch
-
-@OptimizerConfig.register_subclass("xvla-adamw")
-@dataclass
-class XVLAAdamW(OptimizerConfig):
-    lr: float = 1e-4
-    betas: tuple[float, float] = (0.9, 0.99)
-    eps: float = 1e-8
-    weight_decay: float = 0.0
-    grad_clip_norm: float = 10.0
-
-    def build(self, params: dict) -> torch.optim.Optimizer:
-        """
-        Expect `named_parameters()` as input.
-        Apply lr = lr / 10 for all VLM-related parameters.
-        """
-        assert isinstance(params, dict), \
-            "Custom LR optimizer requires `named_parameters()` as inputs."
-        kwargs = asdict(self)
-        kwargs.pop("grad_clip_norm")
-        vlm_group, other_group = [], []
-        for name, p in params.items():
-            if not p.requires_grad:
-                continue
-            if "vlm" in name.lower():
-                vlm_group.append(p)
-            else:
-                other_group.append(p)
-
-        param_groups = [
-            {"params": vlm_group, "lr": self.lr * 0.1, "weight_decay": self.weight_decay * 0.1},
-            {"params": other_group, "lr": self.lr, "weight_decay": self.weight_decay},
-        ]
-
-        return torch.optim.AdamW(param_groups, **kwargs)
-```
-
-2. Modify X-VLA’s get_optim_params to return named parameters
-
-Replace:
-
-```
-def get_optim_params(self) -> dict:
-    """Return only trainable parameters for optimization."""
-    return filter(lambda p: p.requires_grad, self.parameters())
-```
-
-with:
-
-```
-def get_optim_params(self):
-    """Return trainable named parameters."""
-    return filter(lambda kv: kv[1].requires_grad, self.named_parameters())
-```
-
-This ensures the optimizer receives a dict of named parameters, allowing it to correctly detect VLM modules and apply the 1/10 LR rule.
-
+This LR ratio is crucial for achieving strong and stable finetuning performance. This is already done for you by default.
 ❕Note
 
 Completely matching the official reported performance may require an additional warm-up LR schedule for soft-prompts, which can bring minor improvements.
@@ -326,6 +264,26 @@ domain_id = 3
 
 The domain_id is automatically added to observations by the `XVLAAddDomainIdProcessorStep` in the preprocessing pipeline.
 
+The `lerobot/xvla-base` model has been trained on the following domain IDs. It is recommended to choose one that most resembles your robot/configuration:
+
+#### Fine-tuning Datasets
+
+| Dataset Name     | Domain ID |
+| ---------------- | --------- |
+| Bridge           | 0         |
+| RT1              | 1         |
+| Calvin           | 2         |
+| libero           | 3         |
+| widowx-air       | 4         |
+| AIR-AGILEX-HQ    | 5         |
+| robotwin2_abs_ee | 6         |
+| robotwin2_clean  | 6         |
+| robocasa-human   | 7         |
+| VLABench         | 8         |
+| AGIBOT-challenge | 9         |
+| AIR-AGILEX       | 10        |
+| AIRBOT           | 18        |
+
 ### 3. Processor Steps
 
 X-VLA requires specific preprocessing and postprocessing steps for proper operation.

examples/unitree_g1/dance.py

@@ -0,0 +1,454 @@
+#!/usr/bin/env python3
+"""
+WBT (Whole Body Tracking) Dance Policy for Unitree G1
+
+Uses ONNX model with motion data baked in.
+Pattern matches gr00t_locomotion.py - uses UnitreeG1 robot class.
+
+Usage:
+    python examples/unitree_g1/dance.py
+"""
+
+import argparse
+import json
+import logging
+import threading
+import time
+from xml.etree import ElementTree
+
+import numpy as np
+import onnx
+import onnxruntime as ort
+import pinocchio as pin
+
+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__)
+
+# =============================================================================
+# CONFIGURATION
+# =============================================================================
+
+DANCE_ONNX_PATH = "examples/unitree_g1/fastsac_g1_29dof_dancing.onnx"
+CONTROL_DT = 0.02  # 50 Hz
+NUM_DOFS = 29
+
+# Default joint positions (holosoma training defaults)
+DEFAULT_DOF_POS = np.array([
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,   # Left leg (6)
+    -0.312, 0.0, 0.0, 0.669, -0.363, 0.0,   # Right leg (6)
+    0.0, 0.0, 0.0,                           # Waist (3)
+    0.2, 0.2, 0.0, 0.6, 0.0, 0.0, 0.0,      # Left arm (7)
+    0.2, -0.2, 0.0, 0.6, 0.0, 0.0, 0.0,     # Right arm (7)
+], dtype=np.float32)
+
+# Stiff hold KP/KD (for initialization)
+STIFF_KP = np.array([
+    150, 150, 200, 200, 40, 40,
+    150, 150, 200, 200, 40, 40,
+    200, 200, 100,
+    100, 100, 100, 100, 50, 50, 50,
+    100, 100, 100, 100, 50, 50, 50,
+], dtype=np.float32)
+
+STIFF_KD = np.array([
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+    5.0, 5.0, 5.0,
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+    2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 2.5,
+], dtype=np.float32)
+
+# Joints to freeze at 0 with high KP
+FROZEN_JOINTS = [13, 14, 20, 21, 27, 28]
+FROZEN_KP = 500.0
+FROZEN_KD = 5.0
+
+# =============================================================================
+# QUATERNION UTILITIES
+# =============================================================================
+
+def quat_inverse(q):
+    return np.concatenate((q[:, 0:1], -q[:, 1:]), axis=1)
+
+def quat_mul(a, b):
+    a, b = a.reshape(-1, 4), b.reshape(-1, 4)
+    w1, x1, y1, z1 = a[..., 0], a[..., 1], a[..., 2], a[..., 3]
+    w2, x2, y2, z2 = b[..., 0], b[..., 1], b[..., 2], b[..., 3]
+    ww = (z1 + x1) * (x2 + y2)
+    yy = (w1 - y1) * (w2 + z2)
+    zz = (w1 + y1) * (w2 - z2)
+    xx = ww + yy + zz
+    qq = 0.5 * (xx + (z1 - x1) * (x2 - y2))
+    w = qq - ww + (z1 - y1) * (y2 - z2)
+    x = qq - xx + (x1 + w1) * (x2 + w2)
+    y = qq - yy + (w1 - x1) * (y2 + z2)
+    z = qq - zz + (z1 + y1) * (w2 - x2)
+    return np.stack([w, x, y, z]).T.reshape(a.shape)
+
+def subtract_frame_transforms(q01, q02):
+    return quat_mul(quat_inverse(q01), q02)
+
+def matrix_from_quat(q):
+    r, i, j, k = q[..., 0], q[..., 1], q[..., 2], q[..., 3]
+    two_s = 2.0 / (q * q).sum(-1)
+    o = np.stack((
+        1 - two_s * (j*j + k*k), two_s * (i*j - k*r), two_s * (i*k + j*r),
+        two_s * (i*j + k*r), 1 - two_s * (i*i + k*k), two_s * (j*k - i*r),
+        two_s * (i*k - j*r), two_s * (j*k + i*r), 1 - two_s * (i*i + j*j),
+    ), -1)
+    return o.reshape(q.shape[:-1] + (3, 3))
+
+def xyzw_to_wxyz(xyzw):
+    return np.concatenate([xyzw[:, -1:], xyzw[:, :3]], axis=1)
+
+def quat_to_rpy(q):
+    w, x, y, z = q
+    roll = np.arctan2(2*(w*x + y*z), 1 - 2*(x**2 + y**2))
+    pitch = np.arcsin(np.clip(2*(w*y - z*x), -1, 1))
+    yaw = np.arctan2(2*(w*z + x*y), 1 - 2*(y**2 + z**2))
+    return roll, pitch, yaw
+
+def rpy_to_quat(rpy):
+    roll, pitch, yaw = rpy
+    cy, sy = np.cos(yaw*0.5), np.sin(yaw*0.5)
+    cp, sp = np.cos(pitch*0.5), np.sin(pitch*0.5)
+    cr, sr = np.cos(roll*0.5), np.sin(roll*0.5)
+    return np.array([cr*cp*cy + sr*sp*sy, sr*cp*cy - cr*sp*sy,
+                     cr*sp*cy + sr*cp*sy, cr*cp*sy - sr*sp*cy])
+
+# =============================================================================
+# PINOCCHIO FK
+# =============================================================================
+
+DOF_NAMES = (
+    "left_hip_pitch_joint", "left_hip_roll_joint", "left_hip_yaw_joint",
+    "left_knee_joint", "left_ankle_pitch_joint", "left_ankle_roll_joint",
+    "right_hip_pitch_joint", "right_hip_roll_joint", "right_hip_yaw_joint",
+    "right_knee_joint", "right_ankle_pitch_joint", "right_ankle_roll_joint",
+    "waist_yaw_joint", "waist_roll_joint", "waist_pitch_joint",
+    "left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_shoulder_yaw_joint", "left_elbow_joint",
+    "left_wrist_roll_joint", "left_wrist_pitch_joint", "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_shoulder_yaw_joint", "right_elbow_joint",
+    "right_wrist_roll_joint", "right_wrist_pitch_joint", "right_wrist_yaw_joint",
+)
+
+
+class PinocchioFK:
+    """Pinocchio forward kinematics for torso_link orientation."""
+
+    def __init__(self, urdf_text: str):
+        root = ElementTree.fromstring(urdf_text)
+        for parent in root.iter():
+            for child in list(parent):
+                if child.tag.split("}")[-1] in {"visual", "collision"}:
+                    parent.remove(child)
+        xml_text = '<?xml version="1.0"?>\n' + ElementTree.tostring(root, encoding="unicode")
+
+        self.model = pin.buildModelFromXML(xml_text, pin.JointModelFreeFlyer())
+        self.data = self.model.createData()
+
+        pin_names = [n for n in self.model.names if n not in ["universe", "root_joint"]]
+        self.idx_map = np.array([DOF_NAMES.index(n) for n in pin_names])
+        self.ref_frame_id = self.model.getFrameId("torso_link")
+        logger.info(f"Pinocchio FK: {len(pin_names)} joints, torso_link frame={self.ref_frame_id}")
+
+    def get_torso_quat(self, pos, quat_wxyz, dof_pos):
+        """Get torso_link orientation in world frame."""
+        quat_xyzw = np.array([quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]])
+        config = np.concatenate([pos, quat_xyzw, dof_pos[self.idx_map]])
+        pin.framesForwardKinematics(self.model, self.data, config)
+        coeffs = pin.Quaternion(self.data.oMf[self.ref_frame_id].rotation).coeffs()
+        return np.array([coeffs[3], coeffs[0], coeffs[1], coeffs[2]]).reshape(1, 4)
+
+
+# =============================================================================
+# DANCE CONTROLLER
+# =============================================================================
+
+class DanceController:
+    """
+    Handles WBT dance policy for the Unitree G1 robot.
+
+    This controller manages:
+    - 29-joint observation processing
+    - Pinocchio FK for torso orientation
+    - Policy inference with motion data from ONNX
+    """
+
+    def __init__(self, policy, robot, pinocchio_fk, motor_kp, motor_kd, action_scale):
+        self.policy = policy
+        self.robot = robot
+        self.pinocchio_fk = pinocchio_fk
+        self.motor_kp = motor_kp
+        self.motor_kd = motor_kd
+        self.action_scale = action_scale
+
+        self.obs_dim = policy.get_inputs()[0].shape[1]
+        self.last_action = np.zeros((1, NUM_DOFS), dtype=np.float32)
+        self.motion_command = None
+        self.ref_quat_xyzw = None
+        self.timestep = 0
+        self.yaw_offset = 0.0
+
+        # Get initial motion data from ONNX
+        dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+        outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": dummy, "time_step": np.array([[0]], dtype=np.float32)})
+        self.motion_command = np.concatenate(outs[0:2], axis=1)
+        self.ref_quat_xyzw = outs[2]
+        self.motion_start_pose = outs[0].flatten()
+
+        # Thread management
+        self.dance_running = False
+        self.dance_thread = None
+
+        logger.info(f"DanceController: obs_dim={self.obs_dim}, action_scale={action_scale}")
+
+    def capture_yaw_offset(self):
+        """Capture robot's current yaw for relative tracking."""
+        robot_state = self.robot.lowstate_buffer.get_data()
+        if robot_state and self.pinocchio_fk:
+            quat = np.array(robot_state.imu_state.quaternion, dtype=np.float32)
+            dof = np.array([robot_state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof)
+            _, _, self.yaw_offset = quat_to_rpy(torso_q.flatten())
+            logger.info(f"Captured yaw offset: {np.degrees(self.yaw_offset):.1f}°")
+
+    def _remove_yaw_offset(self, quat_wxyz):
+        """Remove stored yaw offset from orientation."""
+        if abs(self.yaw_offset) < 1e-6:
+            return quat_wxyz
+        yaw_q = rpy_to_quat((0, 0, -self.yaw_offset)).reshape(1, 4)
+        return quat_mul(yaw_q, quat_wxyz)
+
+    def run_step(self):
+        """Single dance step - reads state, runs policy, sends commands."""
+        robot_state = self.robot.lowstate_buffer.get_data()
+        if robot_state is None:
+            return
+
+        # Read robot state
+        quat = np.array(robot_state.imu_state.quaternion, dtype=np.float32)
+        ang_vel = np.array(robot_state.imu_state.gyroscope, dtype=np.float32)
+        dof_pos = np.array([robot_state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+        dof_vel = np.array([robot_state.motor_state[i].dq for i in range(NUM_DOFS)], dtype=np.float32)
+
+        # Compute motion_ref_ori_b using FK
+        if self.pinocchio_fk:
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof_pos)
+            torso_q = self._remove_yaw_offset(torso_q)
+            motion_ori = xyzw_to_wxyz(self.ref_quat_xyzw)
+            rel_quat = subtract_frame_transforms(torso_q, motion_ori)
+            ori_b = matrix_from_quat(rel_quat)[..., :2].reshape(1, -1)
+        else:
+            ori_b = np.zeros((1, 6), dtype=np.float32)
+
+        dof_rel = (dof_pos - DEFAULT_DOF_POS).reshape(1, -1)
+
+        # Build observation (alphabetical order)
+        obs_dict = {
+            "actions": self.last_action,
+            "base_ang_vel": ang_vel.reshape(1, 3),
+            "dof_pos": dof_rel,
+            "dof_vel": dof_vel.reshape(1, -1),
+            "motion_command": self.motion_command,
+            "motion_ref_ori_b": ori_b,
+        }
+        obs = np.concatenate([obs_dict[k].astype(np.float32) for k in sorted(obs_dict.keys())], axis=1)
+        obs = np.clip(obs, -100, 100)
+
+        # Run policy
+        outs = self.policy.run(["actions", "joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": obs, "time_step": np.array([[self.timestep]], dtype=np.float32)})
+
+        action = np.clip(outs[0], -100, 100)
+        self.motion_command = np.concatenate(outs[1:3], axis=1)
+        self.ref_quat_xyzw = outs[3]
+        self.last_action = action.copy()
+
+        # Compute target positions
+        target_pos = DEFAULT_DOF_POS + action.flatten() * self.action_scale
+
+        # Send commands
+        for i in range(NUM_DOFS):
+            if i in FROZEN_JOINTS:
+                self.robot.msg.motor_cmd[i].q = 0.0
+                self.robot.msg.motor_cmd[i].kp = FROZEN_KP
+                self.robot.msg.motor_cmd[i].kd = FROZEN_KD
+            else:
+                self.robot.msg.motor_cmd[i].q = float(target_pos[i])
+                self.robot.msg.motor_cmd[i].kp = self.motor_kp[i]
+                self.robot.msg.motor_cmd[i].kd = self.motor_kd[i]
+            self.robot.msg.motor_cmd[i].qd = 0
+            self.robot.msg.motor_cmd[i].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+        self.timestep += 1
+
+    def _dance_thread_loop(self):
+        """Background thread that runs the dance policy."""
+        logger.info("Dance thread started")
+        while self.dance_running:
+            start_time = time.time()
+            try:
+                self.run_step()
+            except Exception as e:
+                logger.error(f"Error in dance loop: {e}")
+                import traceback
+                traceback.print_exc()
+
+            elapsed = time.time() - start_time
+            sleep_time = max(0, CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+        logger.info("Dance thread stopped")
+
+    def start_dance_thread(self):
+        """Start the dance control thread."""
+        if self.dance_running:
+            logger.warning("Dance thread already running")
+            return
+
+        # Reset state for fresh start
+        self.timestep = 0
+        self.last_action.fill(0)
+
+        # Re-get initial motion data
+        dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+        outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": dummy, "time_step": np.array([[0]], dtype=np.float32)})
+        self.motion_command = np.concatenate(outs[0:2], axis=1)
+        self.ref_quat_xyzw = outs[2]
+
+        self.capture_yaw_offset()
+
+        logger.info("Starting dance control thread...")
+        self.dance_running = True
+        self.dance_thread = threading.Thread(target=self._dance_thread_loop, daemon=True)
+        self.dance_thread.start()
+
+    def stop_dance_thread(self):
+        """Stop the dance control thread."""
+        if not self.dance_running:
+            return
+
+        logger.info("Stopping dance control thread...")
+        self.dance_running = False
+        if self.dance_thread:
+            self.dance_thread.join(timeout=2.0)
+        logger.info("Dance control thread stopped")
+
+    def reset_to_motion_pose(self, duration: float = 3.0):
+        """Move robot to initial motion pose over given duration."""
+        logger.info(f"Moving to dance start pose ({duration}s)...")
+
+        robot_state = self.robot.lowstate_buffer.get_data()
+        init_pos = np.array([robot_state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+        target_pos = self.motion_start_pose
+
+        num_steps = int(duration / CONTROL_DT)
+        for step in range(num_steps):
+            alpha = step / num_steps
+            interp = init_pos * (1 - alpha) + target_pos * alpha
+
+            for i in range(NUM_DOFS):
+                if i in FROZEN_JOINTS:
+                    self.robot.msg.motor_cmd[i].q = 0.0
+                    self.robot.msg.motor_cmd[i].kp = FROZEN_KP
+                    self.robot.msg.motor_cmd[i].kd = FROZEN_KD
+                else:
+                    self.robot.msg.motor_cmd[i].q = float(interp[i])
+                    self.robot.msg.motor_cmd[i].kp = STIFF_KP[i]
+                    self.robot.msg.motor_cmd[i].kd = STIFF_KD[i]
+                self.robot.msg.motor_cmd[i].qd = 0
+                self.robot.msg.motor_cmd[i].tau = 0
+
+            self.robot.msg.crc = self.robot.crc.Crc(self.robot.msg)
+            self.robot.lowcmd_publisher.Write(self.robot.msg)
+            time.sleep(CONTROL_DT)
+
+        logger.info("At dance start pose!")
+
+
+# =============================================================================
+# MAIN
+# =============================================================================
+
+def load_dance_policy(onnx_path: str):
+    """Load dance policy and extract metadata."""
+    logger.info(f"Loading dance policy: {onnx_path}")
+
+    policy = ort.InferenceSession(onnx_path)
+    model = onnx.load(onnx_path)
+    metadata = {p.key: json.loads(p.value) for p in model.metadata_props}
+
+    motor_kp = np.array(metadata.get("kp", STIFF_KP), dtype=np.float32)
+    motor_kd = np.array(metadata.get("kd", STIFF_KD), dtype=np.float32)
+    action_scale = float(metadata.get("action_scale", 1.0))
+    urdf_text = metadata.get("robot_urdf", None)
+
+    logger.info(f"  Obs dim: {policy.get_inputs()[0].shape[1]}")
+    logger.info(f"  Action scale: {action_scale}")
+    logger.info(f"  KP range: [{motor_kp.min():.1f}, {motor_kp.max():.1f}]")
+
+    # Build Pinocchio FK if URDF available
+    pinocchio_fk = None
+    if urdf_text:
+        logger.info("  Building Pinocchio FK from URDF...")
+        pinocchio_fk = PinocchioFK(urdf_text)
+    else:
+        logger.warning("  No URDF in metadata - FK will not work!")
+
+    return policy, pinocchio_fk, motor_kp, motor_kd, action_scale
+
+
+def main():
+    parser = argparse.ArgumentParser(description="WBT Dance Policy for Unitree G1")
+    parser.add_argument("--onnx", type=str, default=DANCE_ONNX_PATH, help="Path to dance ONNX model")
+    parser.add_argument("--sim", action="store_true", help="Run in simulation mode")
+    args = parser.parse_args()
+
+    print("=" * 70)
+    print("💃 WBT DANCE POLICY")
+    print("=" * 70)
+
+    # Load policy
+    policy, pinocchio_fk, motor_kp, motor_kd, action_scale = load_dance_policy(args.onnx)
+
+    # Initialize robot
+    logger.info("Initializing robot...")
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+    logger.info("Robot connected!")
+
+    # Create controller
+    controller = DanceController(policy, robot, pinocchio_fk, motor_kp, motor_kd, action_scale)
+
+    try:
+        # Move to start pose
+        controller.reset_to_motion_pose(duration=3.0)
+
+        # Start dancing
+        controller.start_dance_thread()
+
+        logger.info("Dancing! Press Ctrl+C to stop.")
+        print("-" * 70)
+
+        # Log status periodically
+        while True:
+            time.sleep(2.0)
+            logger.info(f"timestep={controller.timestep}")
+
+    except KeyboardInterrupt:
+        print("\n\nStopping...")
+    finally:
+        controller.stop_dance_thread()
+        robot.disconnect()
+
+    print("\nDone!")
+
+
+if __name__ == "__main__":
+    main()

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/locomotion_to_dance.py

@@ -0,0 +1,607 @@
+#!/usr/bin/env python3
+"""
+Locomotion ↔ Dance Toggle for Unitree G1
+
+Press Enter to instantly switch between locomotion and dance modes.
+- Starts in LOCOMOTION mode (joystick control)
+- Press Enter → DANCE mode (resets to frame 0)
+- Press Enter → LOCOMOTION mode
+- Repeat...
+
+Auto-recovery feature:
+- If robot tilts beyond threshold during dance, auto-switches to locomotion
+- When robot recovers (tilt below recovery threshold), resumes dance from where it left off
+
+Usage:
+    python examples/unitree_g1/locomotion_to_dance.py
+    python examples/unitree_g1/locomotion_to_dance.py --tilt-threshold 25 --recovery-threshold 10
+"""
+
+import argparse
+import json
+import logging
+import select
+import sys
+import threading
+import time
+from xml.etree import ElementTree
+
+import numpy as np
+import onnx
+import onnxruntime as ort
+import pinocchio as pin
+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__)
+
+# =============================================================================
+# CONFIGURATION
+# =============================================================================
+
+NUM_DOFS = 29
+CONTROL_DT = 0.02  # 50Hz
+
+# Locomotion config
+DEFAULT_HOLOSOMA_REPO_ID = "nepyope/holosoma_locomotion"
+LOCOMOTION_ACTION_SCALE = 0.25
+ANG_VEL_SCALE = 0.25
+DOF_POS_SCALE = 1.0
+DOF_VEL_SCALE = 0.05
+GAIT_PERIOD = 1.0
+
+# Dance config
+DANCE_ONNX_PATH = "examples/unitree_g1/fastsac_g1_29dof_dancing.onnx"
+FROZEN_JOINTS = [13, 14, 20, 21, 27, 28]
+FROZEN_KP = 500.0
+FROZEN_KD = 5.0
+
+# fmt: off
+# 29-DOF defaults (holosoma training)
+DEFAULT_29DOF_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
+    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)
+
+DEFAULT_29DOF_KP = np.array([
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179, 28.501, 28.501,
+    14.251, 14.251, 14.251, 14.251, 14.251, 16.778, 16.778,
+    14.251, 14.251, 14.251, 14.251, 14.251, 16.778, 16.778,
+], dtype=np.float32)
+
+DEFAULT_29DOF_KD = np.array([
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558, 1.814, 1.814,
+    0.907, 0.907, 0.907, 0.907, 0.907, 1.068, 1.068,
+    0.907, 0.907, 0.907, 0.907, 0.907, 1.068, 1.068,
+], dtype=np.float32)
+
+# 23-DOF config (no waist_roll/pitch, no wrist_pitch/yaw)
+DEFAULT_23DOF_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,                                    # waist_yaw only
+    0.2, 0.2, 0.0, 0.6, 0.0,               # left arm (5 joints)
+    0.2, -0.2, 0.0, 0.6, 0.0,              # right arm (5 joints)
+], dtype=np.float32)
+
+DEFAULT_23DOF_KP = np.array([
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179, 99.098, 40.179, 99.098, 28.501, 28.501,
+    40.179,
+    14.251, 14.251, 14.251, 14.251, 14.251,
+    14.251, 14.251, 14.251, 14.251, 14.251,
+], dtype=np.float32)
+
+DEFAULT_23DOF_KD = np.array([
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558, 6.309, 2.558, 6.309, 1.814, 1.814,
+    2.558,
+    0.907, 0.907, 0.907, 0.907, 0.907,
+    0.907, 0.907, 0.907, 0.907, 0.907,
+], dtype=np.float32)
+
+# 23-DOF policy index → 29-DOF motor index
+DOF_23_TO_MOTOR = [
+    0, 1, 2, 3, 4, 5,       # left leg
+    6, 7, 8, 9, 10, 11,     # right leg
+    12,                      # waist_yaw
+    15, 16, 17, 18, 19,     # left arm (skip wrist_pitch/yaw)
+    22, 23, 24, 25, 26,     # right arm (skip wrist_pitch/yaw)
+]
+MISSING_23DOF_MOTORS = [13, 14, 20, 21, 27, 28]
+# fmt: on
+
+# =============================================================================
+# QUATERNION UTILITIES
+# =============================================================================
+
+def quat_inverse(q):
+    return np.concatenate((q[:, 0:1], -q[:, 1:]), axis=1)
+
+def quat_mul(a, b):
+    a, b = a.reshape(-1, 4), b.reshape(-1, 4)
+    w1, x1, y1, z1 = a[..., 0], a[..., 1], a[..., 2], a[..., 3]
+    w2, x2, y2, z2 = b[..., 0], b[..., 1], b[..., 2], b[..., 3]
+    ww = (z1 + x1) * (x2 + y2)
+    yy = (w1 - y1) * (w2 + z2)
+    zz = (w1 + y1) * (w2 - z2)
+    xx = ww + yy + zz
+    qq = 0.5 * (xx + (z1 - x1) * (x2 - y2))
+    w = qq - ww + (z1 - y1) * (y2 - z2)
+    x = qq - xx + (x1 + w1) * (x2 + w2)
+    y = qq - yy + (w1 - x1) * (y2 + z2)
+    z = qq - zz + (z1 + y1) * (w2 - x2)
+    return np.stack([w, x, y, z]).T.reshape(a.shape)
+
+def subtract_frame_transforms(q01, q02):
+    return quat_mul(quat_inverse(q01), q02)
+
+def matrix_from_quat(q):
+    r, i, j, k = q[..., 0], q[..., 1], q[..., 2], q[..., 3]
+    two_s = 2.0 / (q * q).sum(-1)
+    o = np.stack((
+        1 - two_s * (j*j + k*k), two_s * (i*j - k*r), two_s * (i*k + j*r),
+        two_s * (i*j + k*r), 1 - two_s * (i*i + k*k), two_s * (j*k - i*r),
+        two_s * (i*k - j*r), two_s * (j*k + i*r), 1 - two_s * (i*i + j*j),
+    ), -1)
+    return o.reshape(q.shape[:-1] + (3, 3))
+
+def xyzw_to_wxyz(xyzw):
+    return np.concatenate([xyzw[:, -1:], xyzw[:, :3]], axis=1)
+
+def quat_to_rpy(q):
+    w, x, y, z = q
+    roll = np.arctan2(2*(w*x + y*z), 1 - 2*(x**2 + y**2))
+    pitch = np.arcsin(np.clip(2*(w*y - z*x), -1, 1))
+    yaw = np.arctan2(2*(w*z + x*y), 1 - 2*(y**2 + z**2))
+    return roll, pitch, yaw
+
+def rpy_to_quat(rpy):
+    roll, pitch, yaw = rpy
+    cy, sy = np.cos(yaw*0.5), np.sin(yaw*0.5)
+    cp, sp = np.cos(pitch*0.5), np.sin(pitch*0.5)
+    cr, sr = np.cos(roll*0.5), np.sin(roll*0.5)
+    return np.array([cr*cp*cy + sr*sp*sy, sr*cp*cy - cr*sp*sy,
+                     cr*sp*cy + sr*cp*sy, cr*cp*sy - sr*sp*cy])
+
+# =============================================================================
+# PINOCCHIO FK
+# =============================================================================
+
+DOF_NAMES = (
+    "left_hip_pitch_joint", "left_hip_roll_joint", "left_hip_yaw_joint",
+    "left_knee_joint", "left_ankle_pitch_joint", "left_ankle_roll_joint",
+    "right_hip_pitch_joint", "right_hip_roll_joint", "right_hip_yaw_joint",
+    "right_knee_joint", "right_ankle_pitch_joint", "right_ankle_roll_joint",
+    "waist_yaw_joint", "waist_roll_joint", "waist_pitch_joint",
+    "left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_shoulder_yaw_joint", "left_elbow_joint",
+    "left_wrist_roll_joint", "left_wrist_pitch_joint", "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_shoulder_yaw_joint", "right_elbow_joint",
+    "right_wrist_roll_joint", "right_wrist_pitch_joint", "right_wrist_yaw_joint",
+)
+
+
+class PinocchioFK:
+    def __init__(self, urdf_text: str):
+        root = ElementTree.fromstring(urdf_text)
+        for parent in root.iter():
+            for child in list(parent):
+                if child.tag.split("}")[-1] in {"visual", "collision"}:
+                    parent.remove(child)
+        xml_text = '<?xml version="1.0"?>\n' + ElementTree.tostring(root, encoding="unicode")
+        self.model = pin.buildModelFromXML(xml_text, pin.JointModelFreeFlyer())
+        self.data = self.model.createData()
+        pin_names = [n for n in self.model.names if n not in ["universe", "root_joint"]]
+        self.idx_map = np.array([DOF_NAMES.index(n) for n in pin_names])
+        self.ref_frame_id = self.model.getFrameId("torso_link")
+
+    def get_torso_quat(self, pos, quat_wxyz, dof_pos):
+        quat_xyzw = np.array([quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]])
+        config = np.concatenate([pos, quat_xyzw, dof_pos[self.idx_map]])
+        pin.framesForwardKinematics(self.model, self.data, config)
+        coeffs = pin.Quaternion(self.data.oMf[self.ref_frame_id].rotation).coeffs()
+        return np.array([coeffs[3], coeffs[0], coeffs[1], coeffs[2]]).reshape(1, 4)
+
+    def get_torso_tilt(self, pos, quat_wxyz, dof_pos):
+        """Get torso tilt angle from upright (degrees). Uses roll and pitch."""
+        torso_q = self.get_torso_quat(pos, quat_wxyz, dof_pos)
+        roll, pitch, _ = quat_to_rpy(torso_q.flatten())
+        # Tilt is the angle from vertical - combine roll and pitch
+        tilt_rad = np.sqrt(roll**2 + pitch**2)
+        return np.degrees(tilt_rad), np.degrees(roll), np.degrees(pitch)
+
+
+# =============================================================================
+# LOCOMOTION CONTROLLER
+# =============================================================================
+
+class LocomotionController:
+    """Holosoma whole-body locomotion (23-DOF or 29-DOF)."""
+
+    def __init__(self, policy, robot, obs_dim: int):
+        self.policy = policy
+        self.robot = robot
+        self.obs_dim = obs_dim
+
+        # Detect DOF mode
+        self.is_23dof = (obs_dim == 82)
+        self.num_dof = 23 if self.is_23dof else 29
+
+        if self.is_23dof:
+            self.default_angles = DEFAULT_23DOF_ANGLES
+            self.kp = DEFAULT_23DOF_KP
+            self.kd = DEFAULT_23DOF_KD
+            self.motor_map = DOF_23_TO_MOTOR
+            logger.info("Locomotion: 23-DOF (82D obs)")
+        else:
+            self.default_angles = DEFAULT_29DOF_ANGLES
+            self.kp = DEFAULT_29DOF_KP
+            self.kd = DEFAULT_29DOF_KD
+            self.motor_map = list(range(29))
+            logger.info("Locomotion: 29-DOF (100D obs)")
+
+        self.cmd = np.zeros(3, dtype=np.float32)
+        self.qj = np.zeros(self.num_dof, dtype=np.float32)
+        self.dqj = np.zeros(self.num_dof, dtype=np.float32)
+        self.obs = np.zeros(obs_dim, dtype=np.float32)
+        self.last_action = np.zeros(self.num_dof, dtype=np.float32)
+
+        self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+        self.phase_dt = 2 * np.pi / (50.0 * GAIT_PERIOD)
+        self.is_standing = True
+
+    def run_step(self):
+        """Single locomotion step."""
+        state = self.robot.lowstate_buffer.get_data()
+        if state is None:
+            return
+
+        # Joystick
+        if state.wireless_remote is not None:
+            self.robot.remote_controller.set(state.wireless_remote)
+
+        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.cmd[0], self.cmd[1], self.cmd[2] = ly, -lx, -rx
+
+        # Read joints via motor map
+        for i in range(self.num_dof):
+            self.qj[i] = state.motor_state[self.motor_map[i]].q
+            self.dqj[i] = state.motor_state[self.motor_map[i]].dq
+
+        # IMU
+        quat = state.imu_state.quaternion
+        ang_vel = np.array(state.imu_state.gyroscope, dtype=np.float32)
+        gravity = self.robot.get_gravity_orientation(quat)
+
+        # Scale
+        qj_obs = (self.qj - self.default_angles) * DOF_POS_SCALE
+        dqj_obs = self.dqj * DOF_VEL_SCALE
+        ang_vel_s = ang_vel * ANG_VEL_SCALE
+
+        # Phase
+        cmd_mag = np.linalg.norm(self.cmd[:2])
+        ang_mag = abs(self.cmd[2])
+        if cmd_mag < 0.01 and ang_mag < 0.01:
+            self.phase[0, :] = np.pi
+            self.is_standing = True
+        elif self.is_standing:
+            self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+            self.is_standing = False
+        else:
+            self.phase = np.fmod(self.phase + self.phase_dt + np.pi, 2*np.pi) - np.pi
+
+        sin_ph, cos_ph = np.sin(self.phase[0]), np.cos(self.phase[0])
+
+        # Build obs
+        if self.is_23dof:
+            self.obs[0:23] = self.last_action
+            self.obs[23:26] = ang_vel_s
+            self.obs[26] = self.cmd[2]
+            self.obs[27:29] = self.cmd[:2]
+            self.obs[29:31] = cos_ph
+            self.obs[31:54] = qj_obs
+            self.obs[54:77] = dqj_obs
+            self.obs[77:80] = gravity
+            self.obs[80:82] = sin_ph
+        else:
+            self.obs[0:29] = self.last_action
+            self.obs[29:32] = ang_vel_s
+            self.obs[32] = self.cmd[2]
+            self.obs[33:35] = self.cmd[:2]
+            self.obs[35:37] = cos_ph
+            self.obs[37:66] = qj_obs
+            self.obs[66:95] = dqj_obs
+            self.obs[95:98] = gravity
+            self.obs[98:100] = sin_ph
+
+        # Inference
+        obs_in = self.obs.reshape(1, -1).astype(np.float32)
+        ort_in = {self.policy.get_inputs()[0].name: obs_in}
+        raw_action = self.policy.run(None, ort_in)[0].squeeze()
+        clipped = np.clip(raw_action, -100.0, 100.0)
+        self.last_action = clipped.copy()
+        scaled = clipped * LOCOMOTION_ACTION_SCALE
+        target = self.default_angles + scaled
+
+        # Send commands
+        for i in range(self.num_dof):
+            motor_idx = self.motor_map[i]
+            self.robot.msg.motor_cmd[motor_idx].q = float(target[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
+
+        # Zero missing joints for 23-DOF
+        if self.is_23dof:
+            for idx in MISSING_23DOF_MOTORS:
+                self.robot.msg.motor_cmd[idx].q = 0.0
+                self.robot.msg.motor_cmd[idx].qd = 0
+                self.robot.msg.motor_cmd[idx].kp = 40.0
+                self.robot.msg.motor_cmd[idx].kd = 2.0
+                self.robot.msg.motor_cmd[idx].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+
+    def reset(self):
+        """Reset state for fresh start."""
+        self.last_action.fill(0)
+        self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+        self.is_standing = True
+
+
+# =============================================================================
+# DANCE CONTROLLER
+# =============================================================================
+
+class DanceController:
+    """WBT dance policy with FK for torso tracking."""
+
+    def __init__(self, policy, robot, pinocchio_fk, motor_kp, motor_kd, action_scale):
+        self.policy = policy
+        self.robot = robot
+        self.pinocchio_fk = pinocchio_fk
+        self.motor_kp = motor_kp
+        self.motor_kd = motor_kd
+        self.action_scale = action_scale
+
+        self.obs_dim = policy.get_inputs()[0].shape[1]
+        self.last_action = np.zeros((1, NUM_DOFS), dtype=np.float32)
+        self.motion_command = None
+        self.ref_quat_xyzw = None
+        self.timestep = 0
+        self.yaw_offset = 0.0
+
+        logger.info(f"Dance: obs_dim={self.obs_dim}, action_scale={action_scale}")
+
+    def initialize(self, reset_to_frame_0: bool = True):
+        """Initialize dance. If reset_to_frame_0=True, starts from frame 0. Otherwise resumes."""
+        if reset_to_frame_0:
+            self.timestep = 0
+            self.last_action.fill(0)
+
+            # Get initial motion data at frame 0
+            dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+            outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                                  {"obs": dummy, "time_step": np.array([[0]], dtype=np.float32)})
+            self.motion_command = np.concatenate(outs[0:2], axis=1)
+            self.ref_quat_xyzw = outs[2]
+            logger.info("Dance: reset to frame 0")
+        else:
+            # Resume from current timestep - just update motion command for current frame
+            dummy = np.zeros((1, self.obs_dim), dtype=np.float32)
+            outs = self.policy.run(["joint_pos", "joint_vel", "ref_quat_xyzw"],
+                                  {"obs": dummy, "time_step": np.array([[self.timestep]], dtype=np.float32)})
+            self.motion_command = np.concatenate(outs[0:2], axis=1)
+            self.ref_quat_xyzw = outs[2]
+            logger.info(f"Dance: resuming from frame {self.timestep}")
+
+        # Capture yaw offset
+        state = self.robot.lowstate_buffer.get_data()
+        if state and self.pinocchio_fk:
+            quat = np.array(state.imu_state.quaternion, dtype=np.float32)
+            dof = np.array([state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof)
+            _, _, self.yaw_offset = quat_to_rpy(torso_q.flatten())
+            logger.info(f"Dance yaw offset: {np.degrees(self.yaw_offset):.1f}°")
+
+    def _remove_yaw_offset(self, quat_wxyz):
+        if abs(self.yaw_offset) < 1e-6:
+            return quat_wxyz
+        yaw_q = rpy_to_quat((0, 0, -self.yaw_offset)).reshape(1, 4)
+        return quat_mul(yaw_q, quat_wxyz)
+
+    def run_step(self):
+        """Single dance step."""
+        state = self.robot.lowstate_buffer.get_data()
+        if state is None:
+            return
+
+        quat = np.array(state.imu_state.quaternion, dtype=np.float32)
+        ang_vel = np.array(state.imu_state.gyroscope, dtype=np.float32)
+        dof_pos = np.array([state.motor_state[i].q for i in range(NUM_DOFS)], dtype=np.float32)
+        dof_vel = np.array([state.motor_state[i].dq for i in range(NUM_DOFS)], dtype=np.float32)
+
+        # FK for torso orientation
+        if self.pinocchio_fk:
+            torso_q = self.pinocchio_fk.get_torso_quat(np.zeros(3), quat, dof_pos)
+            torso_q = self._remove_yaw_offset(torso_q)
+            motion_ori = xyzw_to_wxyz(self.ref_quat_xyzw)
+            rel_quat = subtract_frame_transforms(torso_q, motion_ori)
+            ori_b = matrix_from_quat(rel_quat)[..., :2].reshape(1, -1)
+        else:
+            ori_b = np.zeros((1, 6), dtype=np.float32)
+
+        dof_rel = (dof_pos - DEFAULT_29DOF_ANGLES).reshape(1, -1)
+
+        # Build obs (alphabetical)
+        obs_dict = {
+            "actions": self.last_action,
+            "base_ang_vel": ang_vel.reshape(1, 3),
+            "dof_pos": dof_rel,
+            "dof_vel": dof_vel.reshape(1, -1),
+            "motion_command": self.motion_command,
+            "motion_ref_ori_b": ori_b,
+        }
+        obs = np.concatenate([obs_dict[k].astype(np.float32) for k in sorted(obs_dict.keys())], axis=1)
+        obs = np.clip(obs, -100, 100)
+
+        # Inference
+        outs = self.policy.run(["actions", "joint_pos", "joint_vel", "ref_quat_xyzw"],
+                              {"obs": obs, "time_step": np.array([[self.timestep]], dtype=np.float32)})
+        action = np.clip(outs[0], -100, 100)
+        self.motion_command = np.concatenate(outs[1:3], axis=1)
+        self.ref_quat_xyzw = outs[3]
+        self.last_action = action.copy()
+
+        target = DEFAULT_29DOF_ANGLES + action.flatten() * self.action_scale
+
+        # Send commands
+        for i in range(NUM_DOFS):
+            if i in FROZEN_JOINTS:
+                self.robot.msg.motor_cmd[i].q = 0.0
+                self.robot.msg.motor_cmd[i].kp = FROZEN_KP
+                self.robot.msg.motor_cmd[i].kd = FROZEN_KD
+            else:
+                self.robot.msg.motor_cmd[i].q = float(target[i])
+                self.robot.msg.motor_cmd[i].kp = self.motor_kp[i]
+                self.robot.msg.motor_cmd[i].kd = self.motor_kd[i]
+            self.robot.msg.motor_cmd[i].qd = 0
+            self.robot.msg.motor_cmd[i].tau = 0
+
+        self.robot.send_action(self.robot.msg)
+        self.timestep += 1
+
+
+# =============================================================================
+# MAIN
+# =============================================================================
+
+def main():
+    parser = argparse.ArgumentParser(description="Locomotion ↔ Dance Toggle")
+    parser.add_argument("--loco-repo", type=str, default=DEFAULT_HOLOSOMA_REPO_ID)
+    parser.add_argument("--dance-onnx", type=str, default=DANCE_ONNX_PATH)
+    args = parser.parse_args()
+
+    print("=" * 70)
+    print("🚶 LOCOMOTION ↔ 💃 DANCE")
+    print("=" * 70)
+    print("Press ENTER to toggle between modes")
+    print("=" * 70)
+
+    # Load locomotion policy
+    logger.info("Loading locomotion policy...")
+    loco_path = hf_hub_download(repo_id=args.loco_repo, filename="fastsac_g1_29dof.onnx")
+    loco_policy = ort.InferenceSession(loco_path)
+    loco_obs_dim = loco_policy.get_inputs()[0].shape[1]
+    logger.info(f"Locomotion: {loco_obs_dim}D obs")
+
+    # Load dance policy
+    logger.info("Loading dance policy...")
+    dance_policy = ort.InferenceSession(args.dance_onnx)
+    dance_model = onnx.load(args.dance_onnx)
+    dance_meta = {p.key: json.loads(p.value) for p in dance_model.metadata_props}
+    dance_kp = np.array(dance_meta.get("kp", DEFAULT_29DOF_KP), dtype=np.float32)
+    dance_kd = np.array(dance_meta.get("kd", DEFAULT_29DOF_KD), dtype=np.float32)
+    dance_action_scale = float(dance_meta.get("action_scale", 1.0))
+    logger.info(f"Dance: {dance_policy.get_inputs()[0].shape[1]}D obs, scale={dance_action_scale}")
+
+    # Build Pinocchio FK
+    pinocchio_fk = None
+    if "robot_urdf" in dance_meta:
+        logger.info("Building Pinocchio FK...")
+        pinocchio_fk = PinocchioFK(dance_meta["robot_urdf"])
+
+    # Initialize robot
+    logger.info("Initializing robot...")
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+    logger.info("Robot connected!")
+
+    # Create controllers
+    loco_ctrl = LocomotionController(loco_policy, robot, loco_obs_dim)
+    dance_ctrl = DanceController(dance_policy, robot, pinocchio_fk, dance_kp, dance_kd, dance_action_scale)
+
+    # State
+    mode = "locomotion"
+    toggle_event = threading.Event()
+    shutdown = threading.Event()
+
+    # Input thread
+    def input_loop():
+        while not shutdown.is_set():
+            if select.select([sys.stdin], [], [], 0.1)[0]:
+                sys.stdin.readline()
+                toggle_event.set()
+
+    input_thread = threading.Thread(target=input_loop, daemon=True)
+    input_thread.start()
+
+    print("\n🚶 LOCOMOTION MODE - Use joystick to walk")
+    print("   Press ENTER to switch to DANCE")
+    print("-" * 70)
+
+    step = 0
+    try:
+        while not shutdown.is_set():
+            t0 = time.time()
+
+            # Check toggle
+            if toggle_event.is_set():
+                toggle_event.clear()
+                if mode == "locomotion":
+                    mode = "dance"
+                    dance_ctrl.initialize()
+                    print("\n" + "=" * 70)
+                    print("💃 DANCE MODE (frame 0)")
+                    print("   Press ENTER to switch to LOCOMOTION")
+                    print("=" * 70)
+                else:
+                    mode = "locomotion"
+                    loco_ctrl.reset()
+                    print("\n" + "=" * 70)
+                    print("🚶 LOCOMOTION MODE")
+                    print("   Press ENTER to switch to DANCE")
+                    print("=" * 70)
+
+            # Run controller
+            if mode == "locomotion":
+                loco_ctrl.run_step()
+            else:
+                dance_ctrl.run_step()
+
+            # Log
+            if step % 100 == 0:
+                if mode == "locomotion":
+                    print(f"[LOCO ] step={step:5d} cmd=[{loco_ctrl.cmd[0]:.2f},{loco_ctrl.cmd[1]:.2f},{loco_ctrl.cmd[2]:.2f}]")
+                else:
+                    print(f"[DANCE] step={step:5d} timestep={dance_ctrl.timestep}")
+
+            step += 1
+            elapsed = time.time() - t0
+            if elapsed < CONTROL_DT:
+                time.sleep(CONTROL_DT - elapsed)
+
+    except KeyboardInterrupt:
+        print("\n\nStopping...")
+    finally:
+        shutdown.set()
+        robot.disconnect()
+
+    print("Done!")
+
+
+if __name__ == "__main__":
+    main()

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!")
+

pyproject.toml

@@ -263,6 +263,7 @@ default.extend-ignore-identifiers-re = [
     "ein",
     "thw",
     "inpt",
+    "ROBOTIS",
 ]
 
 # TODO: Uncomment when ready to use

src/lerobot/async_inference/constants.py

@@ -26,4 +26,4 @@ DEFAULT_OBS_QUEUE_TIMEOUT = 2
 SUPPORTED_POLICIES = ["act", "smolvla", "diffusion", "tdmpc", "vqbet", "pi0", "pi05"]
 
 # TODO: Add all other robots
-SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower"]
+SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower", "omx_follower"]

src/lerobot/async_inference/robot_client.py

@@ -54,6 +54,7 @@ from lerobot.robots import (  # noqa: F401
     bi_so100_follower,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )

src/lerobot/datasets/aggregate.py

@@ -136,21 +136,40 @@ def update_meta_data(
         df["_orig_chunk"] = df[orig_chunk_col].copy()
         df["_orig_file"] = df[orig_file_col].copy()
 
-        # Update chunk and file indices to point to destination
-        df[orig_chunk_col] = video_idx["chunk"]
-        df[orig_file_col] = video_idx["file"]
-
-        # Apply per-source-file timestamp offsets
+        # Get mappings for this video key
         src_to_offset = video_idx.get("src_to_offset", {})
-        if src_to_offset:
-            # Apply offset based on original source file
+        src_to_dst = video_idx.get("src_to_dst", {})
+
+        # Apply per-source-file mappings
+        if src_to_dst:
+            # Map each episode to its correct destination file and apply offset
             for idx in df.index:
-                src_key = (df.at[idx, "_orig_chunk"], df.at[idx, "_orig_file"])
+                # Convert to Python int to avoid numpy type mismatch in dict lookup
+                src_key = (int(df.at[idx, "_orig_chunk"]), int(df.at[idx, "_orig_file"]))
+
+                # Get destination chunk/file for this source file
+                dst_chunk, dst_file = src_to_dst.get(src_key, (video_idx["chunk"], video_idx["file"]))
+                df.at[idx, orig_chunk_col] = dst_chunk
+                df.at[idx, orig_file_col] = dst_file
+
+                # Apply timestamp offset
+                offset = src_to_offset.get(src_key, 0)
+                df.at[idx, f"videos/{key}/from_timestamp"] += offset
+                df.at[idx, f"videos/{key}/to_timestamp"] += offset
+        elif src_to_offset:
+            # Fallback: use same destination for all, but apply per-file offsets
+            df[orig_chunk_col] = video_idx["chunk"]
+            df[orig_file_col] = video_idx["file"]
+            for idx in df.index:
+                # Convert to Python int to avoid numpy type mismatch in dict lookup
+                src_key = (int(df.at[idx, "_orig_chunk"]), int(df.at[idx, "_orig_file"]))
                 offset = src_to_offset.get(src_key, 0)
                 df.at[idx, f"videos/{key}/from_timestamp"] += offset
                 df.at[idx, f"videos/{key}/to_timestamp"] += offset
         else:
             # Fallback to simple offset (for backward compatibility)
+            df[orig_chunk_col] = video_idx["chunk"]
+            df[orig_file_col] = video_idx["file"]
             df[f"videos/{key}/from_timestamp"] = (
                 df[f"videos/{key}/from_timestamp"] + video_idx["latest_duration"]
             )
@@ -268,6 +287,12 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
         videos_idx[key]["episode_duration"] = 0
         # Track offset for each source (chunk, file) pair
         videos_idx[key]["src_to_offset"] = {}
+        # Track destination (chunk, file) for each source (chunk, file) pair
+        videos_idx[key]["src_to_dst"] = {}
+        # Initialize dst_file_durations if not present
+        # dst_file_durations tracks duration of each destination file
+        if "dst_file_durations" not in videos_idx[key]:
+            videos_idx[key]["dst_file_durations"] = {}
 
     for key, video_idx in videos_idx.items():
         unique_chunk_file_pairs = {
@@ -282,9 +307,13 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
 
         chunk_idx = video_idx["chunk"]
         file_idx = video_idx["file"]
-        current_offset = video_idx["latest_duration"]
+        dst_file_durations = video_idx["dst_file_durations"]
 
         for src_chunk_idx, src_file_idx in unique_chunk_file_pairs:
+            # Convert to Python int to ensure consistent dict keys
+            src_chunk_idx = int(src_chunk_idx)
+            src_file_idx = int(src_file_idx)
+
             src_path = src_meta.root / DEFAULT_VIDEO_PATH.format(
                 video_key=key,
                 chunk_index=src_chunk_idx,
@@ -298,14 +327,17 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
             )
 
             src_duration = get_video_duration_in_s(src_path)
+            dst_key = (chunk_idx, file_idx)
 
             if not dst_path.exists():
-                # Store offset before incrementing
-                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_offset
+                # New destination file: offset is 0
+                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = 0
+                videos_idx[key]["src_to_dst"][(src_chunk_idx, src_file_idx)] = dst_key
                 dst_path.parent.mkdir(parents=True, exist_ok=True)
                 shutil.copy(str(src_path), str(dst_path))
+                # Track duration of this destination file
+                dst_file_durations[dst_key] = src_duration
                 videos_idx[key]["episode_duration"] += src_duration
-                current_offset += src_duration
                 continue
 
             # Check file sizes before appending
@@ -313,10 +345,11 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
             dst_size = get_file_size_in_mb(dst_path)
 
             if dst_size + src_size >= video_files_size_in_mb:
-                # Rotate to a new file, this source becomes start of new destination
-                # So its offset should be 0
-                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = 0
+                # Rotate to a new file - offset is 0
                 chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, chunk_size)
+                dst_key = (chunk_idx, file_idx)
+                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = 0
+                videos_idx[key]["src_to_dst"][(src_chunk_idx, src_file_idx)] = dst_key
                 dst_path = dst_meta.root / DEFAULT_VIDEO_PATH.format(
                     video_key=key,
                     chunk_index=chunk_idx,
@@ -324,16 +357,20 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
                 )
                 dst_path.parent.mkdir(parents=True, exist_ok=True)
                 shutil.copy(str(src_path), str(dst_path))
-                # Reset offset for next file
-                current_offset = src_duration
+                # Track duration of this new destination file
+                dst_file_durations[dst_key] = src_duration
             else:
-                # Append to existing video file - use current accumulated offset
-                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_offset
+                # Append to existing destination file
+                # Offset is the current duration of this destination file
+                current_dst_duration = dst_file_durations.get(dst_key, 0)
+                videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_dst_duration
+                videos_idx[key]["src_to_dst"][(src_chunk_idx, src_file_idx)] = dst_key
                 concatenate_video_files(
                     [dst_path, src_path],
                     dst_path,
                 )
-                current_offset += src_duration
+                # Update duration of this destination file
+                dst_file_durations[dst_key] = current_dst_duration + src_duration
 
             videos_idx[key]["episode_duration"] += src_duration
 

src/lerobot/policies/pi0/configuration_pi0.py

@@ -23,6 +23,8 @@ from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.utils.constants import OBS_IMAGES
 
+DEFAULT_IMAGE_SIZE = 224
+
 
 @PreTrainedConfig.register_subclass("pi0")
 @dataclass
@@ -51,7 +53,10 @@ class PI0Config(PreTrainedConfig):
     # Real-Time Chunking (RTC) configuration
     rtc_config: RTCConfig | None = None
 
-    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
+    image_resolution: tuple[int, int] = (
+        DEFAULT_IMAGE_SIZE,
+        DEFAULT_IMAGE_SIZE,
+    )  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.
     empty_cameras: int = 0

src/lerobot/policies/pi0/modeling_pi0.py

@@ -41,7 +41,7 @@ else:
     PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pi0.configuration_pi0 import PI0Config
+from lerobot.policies.pi0.configuration_pi0 import DEFAULT_IMAGE_SIZE, PI0Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
@@ -337,6 +337,7 @@ class PaliGemmaWithExpertModel(
         action_expert_config,
         use_adarms=None,
         precision: Literal["bfloat16", "float32"] = "bfloat16",
+        image_size: int = DEFAULT_IMAGE_SIZE,
     ):
         if use_adarms is None:
             use_adarms = [False, False]
@@ -356,6 +357,7 @@ class PaliGemmaWithExpertModel(
         vlm_config_hf.text_config.vocab_size = 257152
         vlm_config_hf.text_config.use_adarms = use_adarms[0]
         vlm_config_hf.text_config.adarms_cond_dim = vlm_config.width if use_adarms[0] else None
+        vlm_config_hf.vision_config.image_size = image_size
         vlm_config_hf.vision_config.intermediate_size = 4304
         vlm_config_hf.vision_config.projection_dim = 2048
         vlm_config_hf.vision_config.projector_hidden_act = "gelu_fast"
@@ -519,11 +521,17 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
 
+        if config.image_resolution[0] != config.image_resolution[1]:
+            raise ValueError(
+                f"PaliGemma expects square image resolution, invalid resolution: {config.image_resolution}"
+            )
+
         self.paligemma_with_expert = PaliGemmaWithExpertModel(
             paligemma_config,
             action_expert_config,
             use_adarms=[False, False],
             precision=config.dtype,
+            image_size=config.image_resolution[0],
         )
 
         self.action_in_proj = nn.Linear(config.max_action_dim, action_expert_config.width)
@@ -812,16 +820,13 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
-        while time >= -dt / 2:
-            expanded_time = time.expand(bsize)
+        for step in range(num_steps):
+            time = 1.0 + step * dt
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-            # Define a closure function to properly capture expanded_time
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
                 return self.denoise_step(
                     state=state,
                     prefix_pad_masks=prefix_pad_masks,
@@ -846,15 +851,11 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
-            x_t += dt * v_t
+            x_t = x_t + dt * v_t
 
-            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/policies/pi05/configuration_pi05.py

@@ -22,6 +22,8 @@ from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 
+DEFAULT_IMAGE_SIZE = 224
+
 
 @PreTrainedConfig.register_subclass("pi05")
 @dataclass
@@ -50,7 +52,10 @@ class PI05Config(PreTrainedConfig):
     # Real-Time Chunking (RTC) configuration
     rtc_config: RTCConfig | None = None
 
-    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
+    image_resolution: tuple[int, int] = (
+        DEFAULT_IMAGE_SIZE,
+        DEFAULT_IMAGE_SIZE,
+    )  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.
     empty_cameras: int = 0

src/lerobot/policies/pi05/modeling_pi05.py

@@ -41,7 +41,7 @@ else:
     PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pi05.configuration_pi05 import PI05Config
+from lerobot.policies.pi05.configuration_pi05 import DEFAULT_IMAGE_SIZE, PI05Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
@@ -336,6 +336,7 @@ class PaliGemmaWithExpertModel(
         action_expert_config,
         use_adarms=None,
         precision: Literal["bfloat16", "float32"] = "bfloat16",
+        image_size: int = DEFAULT_IMAGE_SIZE,
     ):
         if use_adarms is None:
             use_adarms = [False, False]
@@ -355,6 +356,7 @@ class PaliGemmaWithExpertModel(
         vlm_config_hf.text_config.vocab_size = 257152
         vlm_config_hf.text_config.use_adarms = use_adarms[0]
         vlm_config_hf.text_config.adarms_cond_dim = vlm_config.width if use_adarms[0] else None
+        vlm_config_hf.vision_config.image_size = image_size
         vlm_config_hf.vision_config.intermediate_size = 4304
         vlm_config_hf.vision_config.projection_dim = 2048
         vlm_config_hf.vision_config.projector_hidden_act = "gelu_fast"
@@ -518,11 +520,17 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
 
+        if config.image_resolution[0] != config.image_resolution[1]:
+            raise ValueError(
+                f"PaliGemma expects square image resolution, invalid resolution: {config.image_resolution}"
+            )
+
         self.paligemma_with_expert = PaliGemmaWithExpertModel(
             paligemma_config,
             action_expert_config,
             use_adarms=[False, True],
             precision=config.dtype,
+            image_size=config.image_resolution[0],
         )
 
         self.action_in_proj = nn.Linear(config.max_action_dim, action_expert_config.width)
@@ -787,16 +795,13 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
-        while time >= -dt / 2:
-            expanded_time = time.expand(bsize)
+        for step in range(num_steps):
+            time = 1.0 + step * dt
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-            # Define a closure function to properly capture expanded_time
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
                 return self.denoise_step(
                     prefix_pad_masks=prefix_pad_masks,
                     past_key_values=past_key_values,
@@ -820,15 +825,11 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
-            x_t += dt * v_t
+            x_t = x_t + dt * v_t
 
-            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -783,18 +783,15 @@ class VLAFlowMatching(nn.Module):
             use_cache=self.config.use_cache,
             fill_kv_cache=True,
         )
-        dt = -1.0 / self.config.num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
+        num_steps = self.config.num_steps
+        dt = -1.0 / num_steps
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        for step in range(num_steps):
+            time = 1.0 + step * dt
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-        while time >= -dt / 2:
-            expanded_time = time.expand(bsize)
-
-            # Define a closure function to properly capture expanded_time
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
                 return self.denoise_step(
                     x_t=input_x_t,
                     prefix_pad_masks=prefix_pad_masks,
@@ -818,15 +815,11 @@ class VLAFlowMatching(nn.Module):
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
-            x_t += dt * v_t
+            x_t = x_t + dt * v_t
 
-            # Record x_t and v_t after Euler step (other params are recorded in rtc_processor.denoise_step)
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/robots/omx_follower/__init__.py

@@ -0,0 +1,21 @@
+#!/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.
+
+# OMX is a fully open-source robot from ROBOTIS.
+# More information at: https://ai.robotis.com/omx/introduction_omx.html
+
+from .config_omx_follower import OmxFollowerConfig
+from .omx_follower import OmxFollower

src/lerobot/robots/omx_follower/config_omx_follower.py

@@ -0,0 +1,39 @@
+# Copyright 2024 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("omx_follower")
+@dataclass
+class OmxFollowerConfig(RobotConfig):
+    # Port to connect to the arm
+    port: str
+
+    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
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
+    # Set to `True` for backward compatibility with previous policies/dataset
+    use_degrees: bool = False

src/lerobot/robots/omx_follower/omx_follower.py

@@ -0,0 +1,225 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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.
+
+import logging
+import time
+from functools import cached_property
+from typing import Any
+
+from lerobot.cameras.utils import make_cameras_from_configs
+from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+from lerobot.motors.dynamixel import (
+    DriveMode,
+    DynamixelMotorsBus,
+    OperatingMode,
+)
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+from ..robot import Robot
+from ..utils import ensure_safe_goal_position
+from .config_omx_follower import OmxFollowerConfig
+
+logger = logging.getLogger(__name__)
+
+
+class OmxFollower(Robot):
+    """
+    - [OMX](https://github.com/ROBOTIS-GIT/open_manipulator),
+        expansion, developed by Woojin Wie and Junha Cha from [ROBOTIS](https://ai.robotis.com/)
+    """
+
+    config_class = OmxFollowerConfig
+    name = "omx_follower"
+
+    def __init__(self, config: OmxFollowerConfig):
+        super().__init__(config)
+        self.config = config
+        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
+        self.bus = DynamixelMotorsBus(
+            port=self.config.port,
+            motors={
+                "shoulder_pan": Motor(11, "xl430-w250", norm_mode_body),
+                "shoulder_lift": Motor(12, "xl430-w250", norm_mode_body),
+                "elbow_flex": Motor(13, "xl430-w250", norm_mode_body),
+                "wrist_flex": Motor(14, "xl330-m288", norm_mode_body),
+                "wrist_roll": Motor(15, "xl330-m288", norm_mode_body),
+                "gripper": Motor(16, "xl330-m288", MotorNormMode.RANGE_0_100),
+            },
+            calibration=self.calibration,
+        )
+        self.cameras = make_cameras_from_configs(config.cameras)
+
+    @property
+    def _motors_ft(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.bus.motors}
+
+    @property
+    def _cameras_ft(self) -> dict[str, tuple]:
+        return {
+            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+        }
+
+    @cached_property
+    def observation_features(self) -> dict[str, type | tuple]:
+        return {**self._motors_ft, **self._cameras_ft}
+
+    @cached_property
+    def action_features(self) -> dict[str, type]:
+        return self._motors_ft
+
+    @property
+    def is_connected(self) -> bool:
+        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
+
+    def connect(self, calibrate: bool = True) -> None:
+        """
+        For OMX robots that come pre-calibrated:
+        - If default calibration from package doesn't match motors, read from motors and save
+        - This allows using pre-calibrated robots without manual calibration
+        - If no calibration file exists, use factory default values (homing_offset=0, range_min=0, range_max=4095)
+        """
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} already connected")
+
+        self.bus.connect()
+        if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
+            self.calibrate()
+
+        for cam in self.cameras.values():
+            cam.connect()
+
+        self.configure()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        return self.bus.is_calibrated
+
+    def calibrate(self) -> None:
+        self.bus.disable_torque()
+        logger.info(f"\nUsing factory default calibration values for {self}")
+        logger.info(f"\nWriting default configuration of {self} to the motors")
+        for motor in self.bus.motors:
+            self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+        for motor in self.bus.motors:
+            self.bus.write("Drive_Mode", motor, DriveMode.NON_INVERTED.value)
+
+        self.calibration = {}
+        for motor, m in self.bus.motors.items():
+            self.calibration[motor] = MotorCalibration(
+                id=m.id,
+                drive_mode=0,
+                homing_offset=0,
+                range_min=0,
+                range_max=4095,
+            )
+
+        self.bus.write_calibration(self.calibration)
+        self._save_calibration()
+        logger.info(f"Calibration saved to {self.calibration_fpath}")
+
+    def configure(self) -> None:
+        with self.bus.torque_disabled():
+            self.bus.configure_motors()
+            # Use 'extended position mode' for all motors except gripper, because in joint mode the servos
+            # can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while assembling
+            # the arm, you could end up with a servo with a position 0 or 4095 at a crucial point
+            for motor in self.bus.motors:
+                if motor != "gripper":
+                    self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+            # Use 'position control current based' for gripper to be limited by the limit of the current. For
+            # the follower gripper, it means it can grasp an object without forcing too much even tho, its
+            # goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
+            # For the leader gripper, it means we can use it as a physical trigger, since we can force with
+            # our finger to make it move, and it will move back to its original target position when we
+            # release the force.
+            self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
+
+            # Set better PID values to close the gap between recorded states and actions
+            # TODO(rcadene): Implement an automatic procedure to set optimal PID values for each motor
+            self.bus.write("Position_P_Gain", "elbow_flex", 1500)
+            self.bus.write("Position_I_Gain", "elbow_flex", 0)
+            self.bus.write("Position_D_Gain", "elbow_flex", 600)
+
+    def setup_motors(self) -> None:
+        for motor in reversed(self.bus.motors):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
+    def get_observation(self) -> dict[str, Any]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        # Read arm position
+        start = time.perf_counter()
+        obs_dict = self.bus.sync_read("Present_Position")
+        obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read state: {dt_ms:.1f}ms")
+
+        # Capture images from cameras
+        for cam_key, cam in self.cameras.items():
+            start = time.perf_counter()
+            obs_dict[cam_key] = cam.async_read()
+            dt_ms = (time.perf_counter() - start) * 1e3
+            logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
+
+        return obs_dict
+
+    def send_action(self, action: dict[str, float]) -> dict[str, float]:
+        """Command arm to move to a target joint configuration.
+
+        The relative action magnitude may be clipped depending on the configuration parameter
+        `max_relative_target`. In this case, the action sent differs from original action.
+        Thus, this function always returns the action actually sent.
+
+        Args:
+            action (dict[str, float]): The goal positions for the motors.
+
+        Returns:
+            dict[str, float]: The action sent to the motors, potentially clipped.
+        """
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
+
+        # Cap goal position when too far away from present position.
+        # /!\ Slower fps expected due to reading from the follower.
+        if self.config.max_relative_target is not None:
+            present_pos = self.bus.sync_read("Present_Position")
+            goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
+            goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
+
+        # Send goal position to the arm
+        self.bus.sync_write("Goal_Position", goal_pos)
+        return {f"{motor}.pos": val for motor, val in goal_pos.items()}
+
+    def disconnect(self):
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        self.bus.disconnect(self.config.disable_torque_on_disconnect)
+        for cam in self.cameras.values():
+            cam.disconnect()
+
+        logger.info(f"{self} disconnected.")

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -16,6 +16,8 @@
 
 from dataclasses import dataclass, field
 
+from lerobot.cameras import CameraConfig
+
 from ..config import RobotConfig
 
 _GAINS: dict[str, dict[str, list[float]]] = {
@@ -51,5 +53,11 @@ class UnitreeG1Config(RobotConfig):
 
     control_dt: float = 1.0 / 250.0  # 250Hz
 
+    # launch mujoco simulation
+    is_simulation: bool = False
+
     # socket config for ZMQ bridge
-    robot_ip: str = "192.168.123.164"
+    robot_ip: str = "172.18.129.215"
+
+    # cameras (optional)
+    cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/unitree_g1/keyboard_control.py

@@ -0,0 +1,302 @@
+#!/usr/bin/env python
+"""
+Standalone keyboard control script for Unitree G1 robot.
+
+This script provides keyboard-based velocity control for the G1 robot's
+locomotion system. It can be run alongside the main robot control to
+provide manual movement commands.
+
+Usage:
+    python keyboard_control.py [--robot-ip IP] [--simulation]
+
+Controls:
+    W/S: Forward/Backward
+    A/D: Strafe Left/Right  
+    Q/E: Rotate Left/Right
+    R/F: Raise/Lower Height (GR00T policies only)
+    Z: Stop (zero all velocity commands)
+    ESC/Ctrl+C: Exit
+"""
+
+import argparse
+import sys
+import select
+import time
+import numpy as np
+
+# Terminal handling for non-blocking keyboard input
+try:
+    import termios
+    import tty
+    HAS_TERMIOS = True
+except ImportError:
+    HAS_TERMIOS = False
+    print("Warning: termios not available. Keyboard controls require Linux/macOS.")
+
+
+class KeyboardController:
+    """Handles keyboard input and converts to locomotion commands."""
+    
+    def __init__(self, callback=None):
+        """
+        Initialize keyboard controller.
+        
+        Args:
+            callback: Optional function called when commands change.
+                      Signature: callback(vx, vy, yaw, height)
+        """
+        self.callback = callback
+        self.running = False
+        
+        # Locomotion commands
+        self.vx = 0.0      # Forward/backward velocity
+        self.vy = 0.0      # Left/right velocity (strafe)
+        self.yaw = 0.0     # Rotation rate
+        self.height = 0.74  # Base height (for GR00T policies)
+        
+        # Command limits
+        self.vx_limit = (-0.8, 0.8)
+        self.vy_limit = (-0.5, 0.5)
+        self.yaw_limit = (-1.0, 1.0)
+        self.height_limit = (0.50, 1.00)
+        
+        # Increments per keypress
+        self.vx_increment = 0.4
+        self.vy_increment = 0.25
+        self.yaw_increment = 0.5
+        self.height_increment = 0.05
+        
+        self._old_terminal_settings = None
+    
+    def get_commands(self) -> tuple[float, float, float, float]:
+        """Get current command values as tuple (vx, vy, yaw, height)."""
+        return (self.vx, self.vy, self.yaw, self.height)
+    
+    def get_commands_array(self) -> np.ndarray:
+        """Get velocity commands as numpy array [vx, vy, yaw]."""
+        return np.array([self.vx, self.vy, self.yaw], dtype=np.float32)
+    
+    def reset_commands(self):
+        """Reset all commands to zero (stop)."""
+        self.vx = 0.0
+        self.vy = 0.0
+        self.yaw = 0.0
+        self._notify_callback()
+    
+    def _clamp(self, value: float, limits: tuple[float, float]) -> float:
+        """Clamp value to limits."""
+        return max(limits[0], min(limits[1], value))
+    
+    def _notify_callback(self):
+        """Call callback with current commands if set."""
+        if self.callback:
+            self.callback(self.vx, self.vy, self.yaw, self.height)
+    
+    def process_key(self, key: str) -> bool:
+        """
+        Process a single key press and update commands.
+        
+        Args:
+            key: Single character key that was pressed.
+            
+        Returns:
+            True if key was handled, False otherwise.
+        """
+        key = key.lower()
+        handled = True
+        
+        if key == 'w':
+            self.vx = self._clamp(self.vx + self.vx_increment, self.vx_limit)
+        elif key == 's':
+            self.vx = self._clamp(self.vx - self.vx_increment, self.vx_limit)
+        elif key == 'a':
+            self.vy = self._clamp(self.vy + self.vy_increment, self.vy_limit)
+        elif key == 'd':
+            self.vy = self._clamp(self.vy - self.vy_increment, self.vy_limit)
+        elif key == 'q':
+            self.yaw = self._clamp(self.yaw + self.yaw_increment, self.yaw_limit)
+        elif key == 'e':
+            self.yaw = self._clamp(self.yaw - self.yaw_increment, self.yaw_limit)
+        elif key == 'r':
+            self.height = self._clamp(self.height + self.height_increment, self.height_limit)
+        elif key == 'f':
+            self.height = self._clamp(self.height - self.height_increment, self.height_limit)
+        elif key == 'z':
+            self.reset_commands()
+            return True  # Already notified in reset_commands
+        else:
+            handled = False
+        
+        if handled:
+            self._notify_callback()
+        
+        return handled
+    
+    def _setup_terminal(self):
+        """Set terminal to raw mode for single character input."""
+        if HAS_TERMIOS:
+            self._old_terminal_settings = termios.tcgetattr(sys.stdin)
+            tty.setcbreak(sys.stdin.fileno())
+    
+    def _restore_terminal(self):
+        """Restore terminal to original settings."""
+        if HAS_TERMIOS and self._old_terminal_settings is not None:
+            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self._old_terminal_settings)
+            self._old_terminal_settings = None
+    
+    def run(self):
+        """Run the keyboard listener loop (blocking)."""
+        if not HAS_TERMIOS:
+            print("Error: Keyboard controls require termios (Linux/macOS)")
+            return
+        
+        self.running = True
+        self._print_controls()
+        
+        try:
+            self._setup_terminal()
+            
+            while self.running:
+                # Check for keyboard input with timeout
+                if select.select([sys.stdin], [], [], 0.1)[0]:
+                    key = sys.stdin.read(1)
+                    
+                    # Handle escape sequences (arrow keys, etc.)
+                    if key == '\x1b':  # ESC
+                        self.running = False
+                        break
+                    
+                    if self.process_key(key):
+                        self._print_status()
+        
+        except KeyboardInterrupt:
+            print("\nInterrupted by user")
+        finally:
+            self._restore_terminal()
+            print("\nKeyboard controls stopped")
+    
+    def stop(self):
+        """Stop the keyboard listener."""
+        self.running = False
+    
+    def _print_controls(self):
+        """Print control instructions."""
+        print("\n" + "=" * 60)
+        print("KEYBOARD CONTROLS ACTIVE")
+        print("=" * 60)
+        print("  W/S: Forward/Backward")
+        print("  A/D: Strafe Left/Right")
+        print("  Q/E: Rotate Left/Right")
+        print("  R/F: Raise/Lower Height (±5cm)")
+        print("  Z: Stop (zero all commands)")
+        print("  ESC: Exit")
+        print("=" * 60 + "\n")
+    
+    def _print_status(self):
+        """Print current command status."""
+        print(f"[CMD] vx={self.vx:+.2f}, vy={self.vy:+.2f}, yaw={self.yaw:+.2f} | height={self.height:.3f}m")
+
+
+class RobotKeyboardController(KeyboardController):
+    """Keyboard controller that directly updates a robot's locomotion commands."""
+    
+    def __init__(self, robot):
+        """
+        Initialize with a UnitreeG1 robot instance.
+        
+        Args:
+            robot: UnitreeG1 robot instance with locomotion_cmd attribute.
+        """
+        super().__init__()
+        self.robot = robot
+        
+        # Initialize from robot's current state if available
+        if hasattr(robot, 'locomotion_cmd'):
+            self.vx = robot.locomotion_cmd[0]
+            self.vy = robot.locomotion_cmd[1]
+            self.yaw = robot.locomotion_cmd[2]
+        
+        if hasattr(robot, 'groot_height_cmd'):
+            self.height = robot.groot_height_cmd
+    
+    def _notify_callback(self):
+        """Update robot's locomotion commands directly."""
+        if hasattr(self.robot, 'locomotion_cmd'):
+            self.robot.locomotion_cmd[0] = self.vx
+            self.robot.locomotion_cmd[1] = self.vy
+            self.robot.locomotion_cmd[2] = self.yaw
+        
+        if hasattr(self.robot, 'groot_height_cmd'):
+            self.robot.groot_height_cmd = self.height
+
+
+def start_keyboard_control_thread(robot) -> tuple:
+    """
+    Start keyboard controls for a robot in a background thread.
+    
+    Args:
+        robot: UnitreeG1 robot instance.
+        
+    Returns:
+        Tuple of (controller, thread) for later stopping.
+    """
+    import threading
+    
+    controller = RobotKeyboardController(robot)
+    thread = threading.Thread(target=controller.run, daemon=True)
+    thread.start()
+    
+    return controller, thread
+
+
+def stop_keyboard_control_thread(controller, thread, timeout: float = 2.0):
+    """
+    Stop the keyboard control thread.
+    
+    Args:
+        controller: KeyboardController instance.
+        thread: Thread running the controller.
+        timeout: Max time to wait for thread to stop.
+    """
+    controller.stop()
+    thread.join(timeout=timeout)
+
+
+def main():
+    """Standalone keyboard control with optional robot connection."""
+    parser = argparse.ArgumentParser(description="Keyboard control for Unitree G1")
+    parser.add_argument("--standalone", action="store_true",
+                        help="Run in standalone mode (just print commands, no robot)")
+    args = parser.parse_args()
+    
+    if args.standalone:
+        # Standalone mode - just demonstrate keyboard input
+        def print_callback(vx, vy, yaw, height):
+            print(f"  → Would send: vx={vx:+.2f}, vy={vy:+.2f}, yaw={yaw:+.2f}, height={height:.3f}")
+        
+        controller = KeyboardController(callback=print_callback)
+        print("Running in STANDALONE mode (no robot connection)")
+        controller.run()
+    else:
+        print("To use with a robot, import and use RobotKeyboardController:")
+        print("")
+        print("  from lerobot.robots.unitree_g1.keyboard_control import (")
+        print("      RobotKeyboardController,")
+        print("      start_keyboard_control_thread,")
+        print("      stop_keyboard_control_thread")
+        print("  )")
+        print("")
+        print("  # Start keyboard controls")
+        print("  controller, thread = start_keyboard_control_thread(robot)")
+        print("")
+        print("  # ... robot runs ...")
+        print("")
+        print("  # Stop keyboard controls")
+        print("  stop_keyboard_control_thread(controller, thread)")
+        print("")
+        print("Or run with --standalone to test keyboard input without a robot.")
+
+
+if __name__ == "__main__":
+    main()
+

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

@@ -30,12 +30,8 @@ from unitree_sdk2py.idl.unitree_hg.msg.dds_ import (
 )
 from unitree_sdk2py.utils.crc import CRC
 
+from lerobot.envs.factory import make_env
 from lerobot.robots.unitree_g1.g1_utils import G1_29_JointIndex
-from lerobot.robots.unitree_g1.unitree_sdk2_socket import (
-    ChannelFactoryInitialize,
-    ChannelPublisher,
-    ChannelSubscriber,
-)
 
 from ..robot import Robot
 from .config_unitree_g1 import UnitreeG1Config
@@ -127,7 +123,21 @@ class UnitreeG1(Robot):
 
         self.control_dt = config.control_dt
 
+        if config.is_simulation:
+            from unitree_sdk2py.core.channel import (
+                ChannelFactoryInitialize,
+                ChannelPublisher,
+                ChannelSubscriber,
+            )
+        else:
+            from lerobot.robots.unitree_g1.unitree_sdk2_socket import (
+                ChannelFactoryInitialize,
+                ChannelPublisher,
+                ChannelSubscriber,
+            )
+
         # connect robot
+        self.ChannelFactoryInitialize = ChannelFactoryInitialize
         self.connect()
 
         # initialize direct motor control interface
@@ -138,8 +148,8 @@ 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 +184,7 @@ 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:
@@ -218,10 +228,17 @@ class UnitreeG1(Robot):
         pass
 
     def connect(self, calibrate: bool = True) -> None:  # connect to DDS
-        ChannelFactoryInitialize(0)
+        if self.config.is_simulation:
+            self.ChannelFactoryInitialize(0, "lo")
+            self.mujoco_env = make_env("lerobot/unitree-g1-mujoco", trust_remote_code=True)
+        else:
+            self.ChannelFactoryInitialize(0)
 
     def disconnect(self):
-        pass
+        self._shutdown_event.set()
+        self.subscribe_thread.join(timeout=2.0)
+        if self.config.is_simulation:
+            self.mujoco_env["hub_env"][0].envs[0].kill_sim()
 
     def get_observation(self) -> dict[str, Any]:
         return self.lowstate_buffer.get_data()

src/lerobot/robots/utils.py

@@ -28,6 +28,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .koch_follower import KochFollower
 
         return KochFollower(config)
+    elif config.type == "omx_follower":
+        from .omx_follower import OmxFollower
+
+        return OmxFollower(config)
     elif config.type == "so100_follower":
         from .so100_follower import SO100Follower
 

src/lerobot/scripts/lerobot_calibrate.py

@@ -40,6 +40,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     lekiwi,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
@@ -49,6 +50,7 @@ from lerobot.teleoperators import (  # noqa: F401
     homunculus,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )

src/lerobot/scripts/lerobot_edit_dataset.py

@@ -18,7 +18,8 @@
 Edit LeRobot datasets using various transformation tools.
 
 This script allows you to delete episodes, split datasets, merge datasets,
-and remove features. When new_repo_id is specified, creates a new dataset.
+remove features, and convert image datasets to video format.
+When new_repo_id is specified, creates a new dataset.
 
 Usage Examples:
 
@@ -65,6 +66,25 @@ Remove camera feature:
         --operation.type remove_feature \
         --operation.feature_names "['observation.images.top']"
 
+Convert image dataset to video format (saves locally):
+    python -m lerobot.scripts.lerobot_edit_dataset \
+        --repo_id lerobot/pusht_image \
+        --operation.type convert_to_video \
+        --operation.output_dir /path/to/output/pusht_video
+
+Convert image dataset and save with new repo_id:
+    python -m lerobot.scripts.lerobot_edit_dataset \
+        --repo_id lerobot/pusht_image \
+        --new_repo_id lerobot/pusht_video \
+        --operation.type convert_to_video
+
+Convert and push to hub:
+    python -m lerobot.scripts.lerobot_edit_dataset \
+        --repo_id lerobot/pusht_image \
+        --new_repo_id lerobot/pusht_video \
+        --operation.type convert_to_video \
+        --push_to_hub true
+
 Using JSON config file:
     python -m lerobot.scripts.lerobot_edit_dataset \
         --config_path path/to/edit_config.json
@@ -72,9 +92,13 @@ Using JSON config file:
 
 import logging
 import shutil
+from concurrent.futures import ThreadPoolExecutor, as_completed
 from dataclasses import dataclass
 from pathlib import Path
 
+import pandas as pd
+from tqdm import tqdm
+
 from lerobot.configs import parser
 from lerobot.datasets.dataset_tools import (
     delete_episodes,
@@ -82,8 +106,10 @@ from lerobot.datasets.dataset_tools import (
     remove_feature,
     split_dataset,
 )
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.utils.constants import HF_LEROBOT_HOME
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.datasets.utils import write_stats, write_tasks
+from lerobot.datasets.video_utils import encode_video_frames, get_video_info
+from lerobot.utils.constants import HF_LEROBOT_HOME, OBS_IMAGE
 from lerobot.utils.utils import init_logging
 
 
@@ -111,10 +137,23 @@ class RemoveFeatureConfig:
     feature_names: list[str] | None = None
 
 
+@dataclass
+class ConvertToVideoConfig:
+    type: str = "convert_to_video"
+    output_dir: str | None = None
+    vcodec: str = "libsvtav1"
+    pix_fmt: str = "yuv420p"
+    g: int = 2
+    crf: int = 30
+    fast_decode: int = 0
+    episode_indices: list[int] | None = None
+    num_workers: int = 4
+
+
 @dataclass
 class EditDatasetConfig:
     repo_id: str
-    operation: DeleteEpisodesConfig | SplitConfig | MergeConfig | RemoveFeatureConfig
+    operation: DeleteEpisodesConfig | SplitConfig | MergeConfig | RemoveFeatureConfig | ConvertToVideoConfig
     root: str | None = None
     new_repo_id: str | None = None
     push_to_hub: bool = False
@@ -258,6 +297,415 @@ def handle_remove_feature(cfg: EditDatasetConfig) -> None:
         LeRobotDataset(output_repo_id, root=output_dir).push_to_hub()
 
 
+def save_episode_images_for_video(
+    dataset: LeRobotDataset,
+    imgs_dir: Path,
+    img_key: str,
+    episode_index: int,
+    num_workers: int = 4,
+) -> None:
+    """Save images from a specific episode and camera to disk for video encoding.
+
+    Args:
+        dataset: The LeRobot dataset to extract images from
+        imgs_dir: Directory to save images to
+        img_key: The image key (camera) to extract
+        episode_index: Index of the episode to save
+        num_workers: Number of threads for parallel image saving
+    """
+    # Create directory
+    imgs_dir.mkdir(parents=True, exist_ok=True)
+
+    # Get dataset without torch format for PIL image access
+    hf_dataset = dataset.hf_dataset.with_format(None)
+
+    # Select only this camera's images
+    imgs_dataset = hf_dataset.select_columns(img_key)
+
+    # Get episode start and end indices
+    from_idx = dataset.meta.episodes["dataset_from_index"][episode_index]
+    to_idx = dataset.meta.episodes["dataset_to_index"][episode_index]
+
+    # Get all items for this episode
+    episode_dataset = imgs_dataset.select(range(from_idx, to_idx))
+
+    # Define function to save a single image
+    def save_single_image(i_item_tuple):
+        i, item = i_item_tuple
+        img = item[img_key]
+        # Use frame-XXXXXX.png format to match encode_video_frames expectations
+        img.save(str(imgs_dir / f"frame-{i:06d}.png"), quality=100)
+        return i
+
+    # Save images with proper naming convention for encode_video_frames (frame-XXXXXX.png)
+    items = list(enumerate(episode_dataset))
+
+    with ThreadPoolExecutor(max_workers=num_workers) as executor:
+        futures = [executor.submit(save_single_image, item) for item in items]
+        for future in as_completed(futures):
+            future.result()  # This will raise any exceptions that occurred
+
+
+def encode_episode_videos(
+    dataset: LeRobotDataset,
+    new_meta: LeRobotDatasetMetadata,
+    episode_index: int,
+    vcodec: str,
+    pix_fmt: str,
+    g: int,
+    crf: int,
+    fast_decode: int,
+    temp_dir: Path,
+    num_image_workers: int = 4,
+) -> dict[str, dict]:
+    """Encode videos for a single episode and return video metadata.
+
+    Args:
+        dataset: Source dataset with images
+        new_meta: Metadata object for the new video dataset
+        episode_index: Episode index to process
+        vcodec: Video codec
+        pix_fmt: Pixel format
+        g: Group of pictures size
+        crf: Constant rate factor
+        fast_decode: Fast decode tuning
+        temp_dir: Temporary directory for images
+        num_image_workers: Number of workers for saving images
+
+    Returns:
+        Dictionary mapping video keys to their metadata (chunk_index, file_index, timestamps)
+    """
+    hf_dataset = dataset.hf_dataset.with_format(None)
+    img_keys = [key for key in hf_dataset.features if key.startswith(OBS_IMAGE)]
+
+    video_metadata = {}
+    fps = int(dataset.fps)  # Convert to int for PyAV compatibility
+    episode_length = dataset.meta.episodes["length"][episode_index]
+    episode_duration = episode_length / dataset.fps  # Use original fps for duration calculation
+
+    for img_key in img_keys:
+        # Save images temporarily
+        imgs_dir = temp_dir / f"episode_{episode_index:06d}" / img_key
+        save_episode_images_for_video(dataset, imgs_dir, img_key, episode_index, num_image_workers)
+
+        # Determine chunk and file indices
+        # For simplicity, we'll put each episode in its own file
+        chunk_idx = episode_index // new_meta.chunks_size
+        file_idx = episode_index % new_meta.chunks_size
+
+        # Create video path in the new dataset structure
+        video_path = new_meta.root / new_meta.video_path.format(
+            video_key=img_key, chunk_index=chunk_idx, file_index=file_idx
+        )
+        video_path.parent.mkdir(parents=True, exist_ok=True)
+
+        # Encode video
+        encode_video_frames(
+            imgs_dir=imgs_dir,
+            video_path=video_path,
+            fps=fps,
+            vcodec=vcodec,
+            pix_fmt=pix_fmt,
+            g=g,
+            crf=crf,
+            fast_decode=fast_decode,
+            overwrite=True,
+        )
+
+        # Clean up temporary images
+        shutil.rmtree(imgs_dir)
+
+        # Store video metadata
+        video_metadata[img_key] = {
+            f"videos/{img_key}/chunk_index": chunk_idx,
+            f"videos/{img_key}/file_index": file_idx,
+            f"videos/{img_key}/from_timestamp": 0.0,
+            f"videos/{img_key}/to_timestamp": episode_duration,
+        }
+
+    return video_metadata
+
+
+def convert_dataset_to_videos(
+    dataset: LeRobotDataset,
+    output_dir: Path,
+    repo_id: str | None = None,
+    vcodec: str = "libsvtav1",
+    pix_fmt: str = "yuv420p",
+    g: int = 2,
+    crf: int = 30,
+    fast_decode: int = 0,
+    episode_indices: list[int] | None = None,
+    num_workers: int = 4,
+) -> LeRobotDataset:
+    """Convert image-based dataset to video-based dataset.
+
+    Creates a new LeRobotDataset with videos instead of images, following the proper
+    LeRobot dataset structure with videos stored in chunked MP4 files.
+
+    Args:
+        dataset: The source LeRobot dataset with images
+        output_dir: Directory to save the new video dataset
+        repo_id: Repository ID for the new dataset (default: original_id + "_video")
+        vcodec: Video codec (default: libsvtav1)
+        pix_fmt: Pixel format (default: yuv420p)
+        g: Group of pictures size (default: 2)
+        crf: Constant rate factor (default: 30)
+        fast_decode: Fast decode tuning (default: 0)
+        episode_indices: List of episode indices to convert (None = all episodes)
+        num_workers: Number of threads for parallel processing (default: 4)
+
+    Returns:
+        New LeRobotDataset with videos
+    """
+    # Check that it's an image dataset
+    if len(dataset.meta.video_keys) > 0:
+        raise ValueError(
+            f"This operation is for image datasets only. Video dataset provided: {dataset.repo_id}"
+        )
+
+    # Get all image keys
+    hf_dataset = dataset.hf_dataset.with_format(None)
+    img_keys = [key for key in hf_dataset.features if key.startswith(OBS_IMAGE)]
+
+    if len(img_keys) == 0:
+        raise ValueError(f"No image keys found in dataset {dataset.repo_id}")
+
+    # Determine which episodes to process
+    if episode_indices is None:
+        episode_indices = list(range(dataset.meta.total_episodes))
+
+    if repo_id is None:
+        repo_id = f"{dataset.repo_id}_video"
+
+    logging.info(
+        f"Converting {len(episode_indices)} episodes with {len(img_keys)} cameras from {dataset.repo_id}"
+    )
+    logging.info(f"Video codec: {vcodec}, pixel format: {pix_fmt}, GOP: {g}, CRF: {crf}")
+
+    # Create new features dict, converting image features to video features
+    new_features = {}
+    for key, value in dataset.meta.features.items():
+        if key not in img_keys:
+            new_features[key] = value
+        else:
+            # Convert image key to video format
+            new_features[key] = value.copy()
+            new_features[key]["dtype"] = "video"  # Change dtype from "image" to "video"
+            # Video info will be updated after episodes are encoded
+
+    # Create new metadata for video dataset
+    new_meta = LeRobotDatasetMetadata.create(
+        repo_id=repo_id,
+        fps=dataset.meta.fps,
+        features=new_features,
+        robot_type=dataset.meta.robot_type,
+        root=output_dir,
+        use_videos=True,
+        chunks_size=dataset.meta.chunks_size,
+        data_files_size_in_mb=dataset.meta.data_files_size_in_mb,
+        video_files_size_in_mb=dataset.meta.video_files_size_in_mb,
+    )
+
+    # Create temporary directory for image extraction
+    temp_dir = output_dir / "temp_images"
+    temp_dir.mkdir(parents=True, exist_ok=True)
+
+    # Process each episode
+    all_episode_metadata = []
+
+    try:
+        for ep_idx in tqdm(episode_indices, desc="Converting episodes to videos"):
+            # Get episode metadata from source
+            src_episode = dataset.meta.episodes[ep_idx]
+
+            # Encode videos for this episode
+            video_metadata = encode_episode_videos(
+                dataset=dataset,
+                new_meta=new_meta,
+                episode_index=ep_idx,
+                vcodec=vcodec,
+                pix_fmt=pix_fmt,
+                g=g,
+                crf=crf,
+                fast_decode=fast_decode,
+                temp_dir=temp_dir,
+                num_image_workers=num_workers,
+            )
+
+            # Build episode metadata
+            episode_meta = {
+                "episode_index": ep_idx,
+                "length": src_episode["length"],
+                "dataset_from_index": ep_idx * src_episode["length"],
+                "dataset_to_index": (ep_idx + 1) * src_episode["length"],
+            }
+
+            # Add video metadata
+            for img_key in img_keys:
+                episode_meta.update(video_metadata[img_key])
+
+            # Add data chunk/file info (using same structure as source)
+            if "data/chunk_index" in src_episode:
+                episode_meta["data/chunk_index"] = src_episode["data/chunk_index"]
+                episode_meta["data/file_index"] = src_episode["data/file_index"]
+
+            all_episode_metadata.append(episode_meta)
+
+        # Copy and transform data files (removing image columns)
+        _copy_data_without_images(dataset, new_meta, episode_indices, img_keys)
+
+        # Save episode metadata
+        episodes_df = pd.DataFrame(all_episode_metadata)
+        episodes_path = new_meta.root / "meta" / "episodes" / "chunk-000" / "file-000.parquet"
+        episodes_path.parent.mkdir(parents=True, exist_ok=True)
+        episodes_df.to_parquet(episodes_path, index=False)
+
+        # Update metadata info
+        new_meta.info["total_episodes"] = len(episode_indices)
+        new_meta.info["total_frames"] = sum(ep["length"] for ep in all_episode_metadata)
+        new_meta.info["total_tasks"] = dataset.meta.total_tasks
+        new_meta.info["splits"] = {"train": f"0:{len(episode_indices)}"}
+
+        # Update video info for all image keys (now videos)
+        # We need to manually set video info since update_video_info() checks video_keys first
+        for img_key in img_keys:
+            if not new_meta.features[img_key].get("info", None):
+                video_path = new_meta.root / new_meta.video_path.format(
+                    video_key=img_key, chunk_index=0, file_index=0
+                )
+                new_meta.info["features"][img_key]["info"] = get_video_info(video_path)
+
+        from lerobot.datasets.utils import write_info
+
+        write_info(new_meta.info, new_meta.root)
+
+        # Copy stats and tasks
+        if dataset.meta.stats is not None:
+            # Remove image stats
+            new_stats = {k: v for k, v in dataset.meta.stats.items() if k not in img_keys}
+            write_stats(new_stats, new_meta.root)
+
+        if dataset.meta.tasks is not None:
+            write_tasks(dataset.meta.tasks, new_meta.root)
+
+    finally:
+        # Clean up temporary directory
+        if temp_dir.exists():
+            shutil.rmtree(temp_dir)
+
+    logging.info(f"✓ Completed converting {dataset.repo_id} to video format")
+    logging.info(f"New dataset saved to: {output_dir}")
+
+    # Return new dataset
+    return LeRobotDataset(repo_id=repo_id, root=output_dir)
+
+
+def _copy_data_without_images(
+    src_dataset: LeRobotDataset,
+    dst_meta: LeRobotDatasetMetadata,
+    episode_indices: list[int],
+    img_keys: list[str],
+) -> None:
+    """Copy data files without image columns.
+
+    Args:
+        src_dataset: Source dataset
+        dst_meta: Destination metadata
+        episode_indices: Episodes to include
+        img_keys: Image keys to remove
+    """
+    from lerobot.datasets.utils import DATA_DIR
+
+    data_dir = src_dataset.root / DATA_DIR
+    parquet_files = sorted(data_dir.glob("*/*.parquet"))
+
+    if not parquet_files:
+        raise ValueError(f"No parquet files found in {data_dir}")
+
+    episode_set = set(episode_indices)
+
+    for src_path in tqdm(parquet_files, desc="Processing data files"):
+        df = pd.read_parquet(src_path).reset_index(drop=True)
+
+        # Filter to only include selected episodes
+        df = df[df["episode_index"].isin(episode_set)].copy()
+
+        if len(df) == 0:
+            continue
+
+        # Remove image columns
+        columns_to_drop = [col for col in img_keys if col in df.columns]
+        if columns_to_drop:
+            df = df.drop(columns=columns_to_drop)
+
+        # Get chunk and file indices from path
+        relative_path = src_path.relative_to(src_dataset.root)
+        chunk_dir = relative_path.parts[1]
+        file_name = relative_path.parts[2]
+        chunk_idx = int(chunk_dir.split("-")[1])
+        file_idx = int(file_name.split("-")[1].split(".")[0])
+
+        # Write to destination without pandas index
+        dst_path = dst_meta.root / f"data/chunk-{chunk_idx:03d}/file-{file_idx:03d}.parquet"
+        dst_path.parent.mkdir(parents=True, exist_ok=True)
+        df.to_parquet(dst_path, index=False)
+
+
+def handle_convert_to_video(cfg: EditDatasetConfig) -> None:
+    # Note: Parser may create any config type with the right fields, so we access fields directly
+    # instead of checking isinstance()
+    dataset = LeRobotDataset(cfg.repo_id, root=cfg.root)
+
+    # Determine output directory and repo_id
+    # Priority: 1) new_repo_id, 2) operation.output_dir, 3) auto-generated name
+    output_dir_config = getattr(cfg.operation, "output_dir", None)
+
+    if cfg.new_repo_id:
+        # Use new_repo_id for both local storage and hub push
+        output_repo_id = cfg.new_repo_id
+        output_dir = Path(cfg.root) / cfg.new_repo_id if cfg.root else HF_LEROBOT_HOME / cfg.new_repo_id
+        logging.info(f"Saving to new dataset: {cfg.new_repo_id}")
+    elif output_dir_config:
+        # Use custom output directory for local-only storage
+        output_dir = Path(output_dir_config)
+        # Extract repo name from output_dir for the dataset
+        output_repo_id = output_dir.name
+        logging.info(f"Saving to local directory: {output_dir}")
+    else:
+        # Auto-generate name: append "_video" to original repo_id
+        output_repo_id = f"{cfg.repo_id}_video"
+        output_dir = Path(cfg.root) / output_repo_id if cfg.root else HF_LEROBOT_HOME / output_repo_id
+        logging.info(f"Saving to auto-generated location: {output_dir}")
+
+    logging.info(f"Converting dataset {cfg.repo_id} to video format")
+
+    new_dataset = convert_dataset_to_videos(
+        dataset=dataset,
+        output_dir=output_dir,
+        repo_id=output_repo_id,
+        vcodec=getattr(cfg.operation, "vcodec", "libsvtav1"),
+        pix_fmt=getattr(cfg.operation, "pix_fmt", "yuv420p"),
+        g=getattr(cfg.operation, "g", 2),
+        crf=getattr(cfg.operation, "crf", 30),
+        fast_decode=getattr(cfg.operation, "fast_decode", 0),
+        episode_indices=getattr(cfg.operation, "episode_indices", None),
+        num_workers=getattr(cfg.operation, "num_workers", 4),
+    )
+
+    logging.info("Video dataset created successfully!")
+    logging.info(f"Location: {output_dir}")
+    logging.info(f"Episodes: {new_dataset.meta.total_episodes}")
+    logging.info(f"Frames: {new_dataset.meta.total_frames}")
+
+    if cfg.push_to_hub:
+        logging.info(f"Pushing to hub as {output_repo_id}...")
+        new_dataset.push_to_hub()
+        logging.info("✓ Successfully pushed to hub!")
+    else:
+        logging.info("Dataset saved locally (not pushed to hub)")
+
+
 @parser.wrap()
 def edit_dataset(cfg: EditDatasetConfig) -> None:
     operation_type = cfg.operation.type
@@ -270,10 +718,12 @@ def edit_dataset(cfg: EditDatasetConfig) -> None:
         handle_merge(cfg)
     elif operation_type == "remove_feature":
         handle_remove_feature(cfg)
+    elif operation_type == "convert_to_video":
+        handle_convert_to_video(cfg)
     else:
         raise ValueError(
             f"Unknown operation type: {operation_type}\n"
-            f"Available operations: delete_episodes, split, merge, remove_feature"
+            f"Available operations: delete_episodes, split, merge, remove_feature, convert_to_video"
         )
 
 

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -46,6 +46,7 @@ from lerobot.robots import (  # noqa: F401
     RobotConfig,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
@@ -54,6 +55,7 @@ from lerobot.teleoperators import (  # noqa: F401
     gamepad,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )

src/lerobot/scripts/lerobot_record.py

@@ -97,9 +97,11 @@ from lerobot.robots import (  # noqa: F401
     hope_jr,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
+from lerobot.robots.unitree_g1 import config_unitree_g1  # noqa: F401
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
@@ -107,6 +109,7 @@ from lerobot.teleoperators import (  # noqa: F401
     homunculus,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )
@@ -195,9 +198,8 @@ class RecordConfig:
             cli_overrides = parser.get_cli_overrides("policy")
             self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
             self.policy.pretrained_path = policy_path
-
-        if self.teleop is None and self.policy is None:
-            raise ValueError("Choose a policy, a teleoperator or both to control the robot")
+        # Note: teleop and policy can both be None for robots with built-in control (e.g. unitree_g1)
+        # This is validated in record() after the robot is instantiated
 
     @classmethod
     def __get_path_fields__(cls) -> list[str]:
@@ -270,7 +272,12 @@ def record_loop(
                 for t in teleop
                 if isinstance(
                     t,
-                    (so100_leader.SO100Leader | so101_leader.SO101Leader | koch_leader.KochLeader),
+                    (
+                        so100_leader.SO100Leader
+                        | so101_leader.SO101Leader
+                        | koch_leader.KochLeader
+                        | omx_leader.OmxLeader
+                    ),
                 )
             ),
             None,
@@ -333,6 +340,13 @@ def record_loop(
             base_action = robot._from_keyboard_to_base_action(keyboard_action)
             act = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
             act_processed_teleop = teleop_action_processor((act, obs))
+        elif policy is None and teleop is None and dataset is not None:
+            # Observation-only recording (robot controls itself, e.g. unitree_g1)
+            # Record observations, extract action-relevant values (positions) from obs
+            # Filter obs_processed to only include keys that match action_features
+            action_keys = set(robot.action_features.keys())
+            action_values = {k: v for k, v in obs_processed.items() if k in action_keys}
+            robot_action_to_send = None
         else:
             logging.info(
                 "No policy or teleoperator provided, skipping action generation."
@@ -345,15 +359,17 @@ def record_loop(
         if policy is not None and act_processed_policy is not None:
             action_values = act_processed_policy
             robot_action_to_send = robot_action_processor((act_processed_policy, obs))
-        else:
+        elif teleop is not None:
             action_values = act_processed_teleop
             robot_action_to_send = robot_action_processor((act_processed_teleop, obs))
+        # else: observation-only mode, action_values already set above
 
-        # Send action to robot
-        # Action can eventually be clipped using `max_relative_target`,
-        # so action actually sent is saved in the dataset. action = postprocessor.process(action)
-        # TODO(steven, pepijn, adil): we should use a pipeline step to clip the action, so the sent action is the action that we input to the robot.
-        _sent_action = robot.send_action(robot_action_to_send)
+        # Send action to robot (skip if observation-only mode)
+        if robot_action_to_send is not None:
+            # Action can eventually be clipped using `max_relative_target`,
+            # so action actually sent is saved in the dataset. action = postprocessor.process(action)
+            # TODO(steven, pepijn, adil): we should use a pipeline step to clip the action, so the sent action is the action that we input to the robot.
+            _sent_action = robot.send_action(robot_action_to_send)
 
         # Write to dataset
         if dataset is not None:

src/lerobot/scripts/lerobot_replay.py

@@ -58,6 +58,7 @@ from lerobot.robots import (  # noqa: F401
     hope_jr,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )

src/lerobot/scripts/lerobot_setup_motors.py

@@ -33,6 +33,7 @@ from lerobot.robots import (  # noqa: F401
     koch_follower,
     lekiwi,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
@@ -40,6 +41,7 @@ from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )
@@ -47,6 +49,8 @@ from lerobot.teleoperators import (  # noqa: F401
 COMPATIBLE_DEVICES = [
     "koch_follower",
     "koch_leader",
+    "omx_follower",
+    "omx_leader",
     "so100_follower",
     "so100_leader",
     "so101_follower",

src/lerobot/scripts/lerobot_teleoperate.py

@@ -75,6 +75,7 @@ from lerobot.robots import (  # noqa: F401
     hope_jr,
     koch_follower,
     make_robot_from_config,
+    omx_follower,
     so100_follower,
     so101_follower,
 )
@@ -87,6 +88,7 @@ from lerobot.teleoperators import (  # noqa: F401
     keyboard,
     koch_leader,
     make_teleoperator_from_config,
+    omx_leader,
     so100_leader,
     so101_leader,
 )

src/lerobot/teleoperators/omx_leader/__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_omx_leader import OmxLeaderConfig
+from .omx_leader import OmxLeader

src/lerobot/teleoperators/omx_leader/config_omx_leader.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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
+
+from ..config import TeleoperatorConfig
+
+
+@TeleoperatorConfig.register_subclass("omx_leader")
+@dataclass
+class OmxLeaderConfig(TeleoperatorConfig):
+    # Port to connect to the arm
+    port: str
+
+    # Sets the arm in torque mode with the gripper motor set to this value. This makes it possible to squeeze
+    # the gripper and have it spring back to an open position on its own.
+    gripper_open_pos: float = 37.0

src/lerobot/teleoperators/omx_leader/omx_leader.py

@@ -0,0 +1,165 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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.
+
+import logging
+import time
+
+from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+from lerobot.motors.dynamixel import (
+    DriveMode,
+    DynamixelMotorsBus,
+    OperatingMode,
+)
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+from ..teleoperator import Teleoperator
+from .config_omx_leader import OmxLeaderConfig
+
+logger = logging.getLogger(__name__)
+
+
+class OmxLeader(Teleoperator):
+    """
+    - [OMX](https://github.com/ROBOTIS-GIT/open_manipulator),
+        expansion, developed by Woojin Wie and Junha Cha from [ROBOTIS](https://ai.robotis.com/)
+    """
+
+    config_class = OmxLeaderConfig
+    name = "omx_leader"
+
+    def __init__(self, config: OmxLeaderConfig):
+        super().__init__(config)
+        self.config = config
+        self.bus = DynamixelMotorsBus(
+            port=self.config.port,
+            motors={
+                "shoulder_pan": Motor(1, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "shoulder_lift": Motor(2, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "elbow_flex": Motor(3, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "wrist_flex": Motor(4, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "wrist_roll": Motor(5, "xl330-m288", MotorNormMode.RANGE_M100_100),
+                "gripper": Motor(6, "xl330-m077", MotorNormMode.RANGE_0_100),
+            },
+            calibration=self.calibration,
+        )
+
+    @property
+    def action_features(self) -> dict[str, type]:
+        return {f"{motor}.pos": float for motor in self.bus.motors}
+
+    @property
+    def feedback_features(self) -> dict[str, type]:
+        return {}
+
+    @property
+    def is_connected(self) -> bool:
+        return self.bus.is_connected
+
+    def connect(self, calibrate: bool = True) -> None:
+        if self.is_connected:
+            raise DeviceAlreadyConnectedError(f"{self} already connected")
+
+        self.bus.connect()
+        if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
+            self.calibrate()
+
+        self.configure()
+        logger.info(f"{self} connected.")
+
+    @property
+    def is_calibrated(self) -> bool:
+        return self.bus.is_calibrated
+
+    def calibrate(self) -> None:
+        self.bus.disable_torque()
+        logger.info(f"\nUsing factory default calibration values for {self}")
+        logger.info(f"\nWriting default configuration of {self} to the motors")
+        for motor in self.bus.motors:
+            self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+        for motor in self.bus.motors:
+            if motor == "gripper":
+                self.bus.write("Drive_Mode", motor, DriveMode.INVERTED.value)
+            else:
+                self.bus.write("Drive_Mode", motor, DriveMode.NON_INVERTED.value)
+        drive_modes = {motor: 1 if motor == "gripper" else 0 for motor in self.bus.motors}
+
+        self.calibration = {}
+        for motor, m in self.bus.motors.items():
+            self.calibration[motor] = MotorCalibration(
+                id=m.id,
+                drive_mode=drive_modes[motor],
+                homing_offset=0,
+                range_min=0,
+                range_max=4095,
+            )
+
+        self.bus.write_calibration(self.calibration)
+        self._save_calibration()
+        logger.info(f"Calibration saved to {self.calibration_fpath}")
+
+    def configure(self) -> None:
+        self.bus.disable_torque()
+        self.bus.configure_motors()
+        for motor in self.bus.motors:
+            if motor != "gripper":
+                # Use 'extended position mode' for all motors except gripper, because in joint mode the servos
+                # can't rotate more than 360 degrees (from 0 to 4095) And some mistake can happen while
+                # assembling the arm, you could end up with a servo with a position 0 or 4095 at a crucial
+                # point
+                self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)
+
+        # Use 'position control current based' for gripper to be limited by the limit of the current.
+        # For the follower gripper, it means it can grasp an object without forcing too much even tho,
+        # its goal position is a complete grasp (both gripper fingers are ordered to join and reach a touch).
+        # For the leader gripper, it means we can use it as a physical trigger, since we can force with our finger
+        # to make it move, and it will move back to its original target position when we release the force.
+        self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value)
+        # Set gripper's goal pos in current position mode so that we can use it as a trigger.
+        self.bus.enable_torque("gripper")
+        if self.is_calibrated:
+            self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos)
+
+    def setup_motors(self) -> None:
+        for motor in reversed(self.bus.motors):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
+    def get_action(self) -> dict[str, float]:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        start = time.perf_counter()
+        action = self.bus.sync_read("Present_Position")
+        action = {f"{motor}.pos": val for motor, val in action.items()}
+        dt_ms = (time.perf_counter() - start) * 1e3
+        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+        return action
+
+    def send_feedback(self, feedback: dict[str, float]) -> None:
+        # TODO(rcadene, aliberts): Implement force feedback
+        raise NotImplementedError
+
+    def disconnect(self) -> None:
+        if not self.is_connected:
+            raise DeviceNotConnectedError(f"{self} is not connected.")
+
+        self.bus.disconnect()
+        logger.info(f"{self} disconnected.")

src/lerobot/teleoperators/utils.py

@@ -41,6 +41,10 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .koch_leader import KochLeader
 
         return KochLeader(config)
+    elif config.type == "omx_leader":
+        from .omx_leader import OmxLeader
+
+        return OmxLeader(config)
     elif config.type == "so100_leader":
         from .so100_leader import SO100Leader
 

tests/datasets/test_dataset_tools.py

@@ -29,6 +29,7 @@ from lerobot.datasets.dataset_tools import (
     remove_feature,
     split_dataset,
 )
+from lerobot.scripts.lerobot_edit_dataset import convert_dataset_to_videos
 
 
 @pytest.fixture
@@ -1047,3 +1048,107 @@ def test_modify_features_preserves_file_structure(sample_dataset, tmp_path):
         assert new_chunk_indices == original_chunk_indices, "Chunk indices should be preserved"
         assert new_file_indices == original_file_indices, "File indices should be preserved"
         assert "reward" in modified_dataset.meta.features
+
+
+def test_convert_dataset_to_videos(tmp_path):
+    """Test converting lerobot/pusht_image dataset to video format."""
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+    # Load the actual lerobot/pusht_image dataset (only first 2 episodes for speed)
+    source_dataset = LeRobotDataset("lerobot/pusht_image", episodes=[0, 1])
+
+    output_dir = tmp_path / "pusht_video"
+
+    with (
+        patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
+        patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
+    ):
+        mock_get_safe_version.return_value = "v3.0"
+        mock_snapshot_download.return_value = str(output_dir)
+
+        # Verify source dataset has images, not videos
+        assert len(source_dataset.meta.video_keys) == 0
+        assert "observation.image" in source_dataset.meta.features
+
+        # Convert to video dataset (only first 2 episodes for speed)
+        video_dataset = convert_dataset_to_videos(
+            dataset=source_dataset,
+            output_dir=output_dir,
+            repo_id="lerobot/pusht_video",
+            vcodec="libsvtav1",
+            pix_fmt="yuv420p",
+            g=2,
+            crf=30,
+            episode_indices=[0, 1],
+            num_workers=2,
+        )
+
+        # Verify new dataset has videos
+        assert len(video_dataset.meta.video_keys) > 0
+        assert "observation.image" in video_dataset.meta.video_keys
+
+        # Verify correct number of episodes and frames (2 episodes)
+        assert video_dataset.meta.total_episodes == 2
+        # Compare against the actual number of frames in the loaded episodes, not metadata total
+        assert len(video_dataset) == len(source_dataset)
+
+        # Verify video files exist
+        for ep_idx in range(video_dataset.meta.total_episodes):
+            for video_key in video_dataset.meta.video_keys:
+                video_path = video_dataset.root / video_dataset.meta.get_video_file_path(ep_idx, video_key)
+                assert video_path.exists(), f"Video file should exist: {video_path}"
+
+        # Verify we can load the dataset and access it
+        assert len(video_dataset) == video_dataset.meta.total_frames
+
+        # Test that we can actually get an item from the video dataset
+        item = video_dataset[0]
+        assert "observation.image" in item
+        assert "action" in item
+
+        # Cleanup
+        import shutil
+
+        if output_dir.exists():
+            shutil.rmtree(output_dir)
+
+
+def test_convert_dataset_to_videos_subset_episodes(tmp_path):
+    """Test converting only specific episodes from lerobot/pusht_image to video format."""
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+    # Load the actual lerobot/pusht_image dataset (only first 3 episodes)
+    source_dataset = LeRobotDataset("lerobot/pusht_image", episodes=[0, 1, 2])
+
+    output_dir = tmp_path / "pusht_video_subset"
+
+    with (
+        patch("lerobot.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version,
+        patch("lerobot.datasets.lerobot_dataset.snapshot_download") as mock_snapshot_download,
+    ):
+        mock_get_safe_version.return_value = "v3.0"
+        mock_snapshot_download.return_value = str(output_dir)
+
+        # Convert only episode 0 to video (subset of loaded episodes)
+        episode_indices = [0]
+
+        video_dataset = convert_dataset_to_videos(
+            dataset=source_dataset,
+            output_dir=output_dir,
+            repo_id="lerobot/pusht_video_subset",
+            episode_indices=episode_indices,
+            num_workers=2,
+        )
+
+        # Verify correct number of episodes
+        assert video_dataset.meta.total_episodes == len(episode_indices)
+
+        # Verify video files exist for selected episodes
+        assert len(video_dataset.meta.video_keys) > 0
+        assert "observation.image" in video_dataset.meta.video_keys
+
+        # Cleanup
+        import shutil
+
+        if output_dir.exists():
+            shutil.rmtree(output_dir)