[feat] Standalone G1 locomotion (loco.onnx) walking demo recorder#43
Open
Everloom-129 wants to merge 1 commit into
Open
[feat] Standalone G1 locomotion (loco.onnx) walking demo recorder#43Everloom-129 wants to merge 1 commit into
Everloom-129 wants to merge 1 commit into
Conversation
Add `lw_benchhub/scripts/demo/g1_loco_walk.py`, a headless, teleop-free demo that drives the bundled G1 whole-body controllers (`loco.onnx` / `squat.onnx`, the same `Controller_loco` / `Controller_squat` used by `LegPositionAction`) with a scripted forward-walk command and exports an mp4. - Reuses `G1_Loco_CFG` and the real low-level controllers; verified the leg joint ordering matches `LegPositionAction.loco_joint_ids`. - README: add a "Locomotion Policy Demo (G1)" section with the run command and flags (`--vx`, `--settle_steps`, `--walk_steps`). - configs: add `g1_liftobj_state_play.yaml` (G1 RL eval/play config). - .gitignore: ignore generated `lw_benchhub_logs/`, `.claude/`, and `uv.lock`. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Adds a headless, teleop-free way to visually demo the bundled Unitree G1 locomotion policy (
loco.onnx). Previously the loco/WBC policy could only be driven via a VR teleop device (KEYCONTROLLER_MAPonly mapskeyboard-pandaomron), so there was no one-command way to see G1 walk.What's included
lw_benchhub/scripts/demo/g1_loco_walk.py— builds a minimal scene (ground + light +G1_Loco_CFG+ follow camera) and reuses the exactController_loco/Controller_squatclasses thatLegPositionActionuses. It feeds a scripted[vx, vy, vyaw, squat]command (settle in squat, then walk forward in loco mode), renders headless, and exports an mp4 toresults/.LegPositionAction.loco_joint_idsat runtime.finallyso a crash never leaks GPU memory.README.md— new Locomotion Policy Demo (G1) section with the run command and flags.configs/rl/skrl/g1_liftobj_state_play.yaml— G1 RL eval/play config (mirrors the existinglerobot_liftobj_state_play.yaml)..gitignore— ignore generatedlw_benchhub_logs/,.claude/, anduv.lock.Usage
Flags:
--vx(forward speed m/s, default 0.3),--settle_steps,--walk_steps.Testing
Ran end-to-end on an RTX 4060 (8 GB): the G1 walks ~1.3 m forward and stays upright; a valid 100-frame mp4 is written to
results/g1_loco_walk.mp4.g1_loco_walk.mp4