Feat/unitree g1 #2497

nepyope · 2025-11-21T10:07:14Z

-unitree_g1 robot:

-zmq cameras:

-custom teleop:

at a high level, we're integrating
https://github.com/unitreerobotics/unitree_IL_lerobot
https://github.com/unitreerobotics/unitree_rl_gym (no training)
and
https://github.com/NVlabs/GR00T-WholeBodyControl
into lerobot

…450)

Copilot

Pull Request Overview

This PR adds custom teleoperation capabilities, a Unitree G1 robot integration, ZMQ-based camera streaming, and a MuJoCo simulation environment for the Unitree G1 robot.

Key Changes:

Standalone MuJoCo simulator with DDS communication via Unitree SDK2
ZMQ-based camera image publishing system using shared memory
Custom teleoperation and robot control utilities
Calibration tools for robot arm joints

Reviewed Changes

Copilot reviewed 70 out of 421 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
mujoco_sim_g1/view_cameras.py	Camera recorder script that subscribes to ZMQ camera feeds and saves images
mujoco_sim_g1/sim/unitree_sdk2py_bridge.py	Bridge between Unitree SDK2 and MuJoCo simulator for robot communication
mujoco_sim_g1/sim/simulator_factory.py	Factory pattern implementation for creating MuJoCo/RoboCasa simulators
mujoco_sim_g1/sim/sim_utilts.py	Utility functions for MuJoCo model operations (body/geom queries)
mujoco_sim_g1/sim/sensor_utils.py	ZMQ server/client and image encoding utilities for camera streaming
mujoco_sim_g1/sim/metric_utils.py	Contact detection and height checking utilities for simulation
mujoco_sim_g1/sim/image_publish_utils.py	Multiprocessing image publisher using shared memory
mujoco_sim_g1/sim/base_sim.py	Core simulation environment with MuJoCo integration
mujoco_sim_g1/run_sim.py	Main simulator launcher with command-line interface
mujoco_sim_g1/requirements.txt	Python dependencies for simulator
mujoco_sim_g1/config.yaml	Robot configuration including PD gains and motor parameters
mujoco_sim_g1/assets/*.xml	MuJoCo robot model files for G1
mujoco_sim_g1/README.md	Documentation for simulator setup and usage
get_calibration.py	Utility for collecting joint calibration data
eval_robot/utils/*.py	Utility functions for robot control and visualization

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Copilot · 2025-11-21T10:08:33Z

mujoco_sim_g1/sim/sim_utilts.py

+"""
+Utility functions for working with Mujoco models.
+copied from https://github.com/kevinzakka/mink/blob/main/mink/utils.py
+"""


Corrected spelling of 'Mujoco' to 'MuJoCo' in comment.

Copilot · 2025-11-21T10:08:34Z

mujoco_sim_g1/sim/unitree_sdk2py_bridge.py

+
+    def __init__(self, config):
+        # Note that we do not give the mjdata and mjmodel to the UnitreeSdk2Bridge.
+        # It is unsafe and would be unflexible if we use a hand-plugged robot model


Corrected spelling of 'unflexible' to 'inflexible'.

Suggested change

# It is unsafe and would be unflexible if we use a hand-plugged robot model

# It is unsafe and would be inflexible if we use a hand-plugged robot model

Copilot · 2025-11-21T10:08:34Z

mujoco_sim_g1/sim/unitree_sdk2py_bridge.py

+            left_hand_q = [self.left_hand_cmd.motor_cmd[i].q for i in range(self.num_hand_motor)]
+        with self.right_hand_cmd_lock:
+            right_hand_q = [self.right_hand_cmd.motor_cmd[i].q for i in range(self.num_hand_motor)]
+        with self.low_cmd_lock and self.left_hand_cmd_lock and self.right_hand_cmd_lock:


Context manager combining locks with and operator creates a boolean expression instead of acquiring multiple locks. Use nested with statements or contextlib.ExitStack to properly acquire multiple locks.

Copilot · 2025-11-21T10:08:34Z

mujoco_sim_g1/sim/unitree_sdk2py_bridge.py

+
+        return np.concatenate([f, torque])
+
+    def MujuocoKeyCallback(self, key):


Corrected spelling of 'Mujuoco' to 'MuJoCo' in method name.

Suggested change

def MujuocoKeyCallback(self, key):

def MuJoCoKeyCallback(self, key):

Copilot · 2025-11-21T10:08:35Z

eval_robot/utils/weighted_moving_filter.py

+    def __init__(self, weights, data_size=14):
+        self._window_size = len(weights)
+        self._weights = np.array(weights)
+        # assert np.isclose(np.sum(self._weights), 1.0), "[WeightedMovingFilter] the sum of weights list must be 1.0!"


Commented-out assertion makes the weights constraint unclear. Either remove the commented code or enable the assertion if the constraint is required.

Suggested change

# assert np.isclose(np.sum(self._weights), 1.0), "[WeightedMovingFilter] the sum of weights list must be 1.0!"

assert np.isclose(np.sum(self._weights), 1.0), "[WeightedMovingFilter] the sum of weights list must be 1.0!"

Copilot · 2025-11-21T10:08:35Z

eval_robot/test.py

+
+def replay_main():
+
+    #damp needs to be on? do i start the robot as well 


Incomplete comment with unclear meaning. Remove or clarify the comment to explain what needs to be configured.

Suggested change

#damp needs to be on? do i start the robot as well

# Ensure that the robot's damping mode is enabled and the robot is started before running this script.

remove isaaclab, add test scripts added simulator to the hub remove mujoco env

alexander-soare and others added 4 commits November 21, 2025 09:55

empty commit

c749fba

bug causes error uploading to huggingface, unicode issue on windows. (#…

2cbd664

…450)

begin unitree_g1 integration

c365bcd

find cameras via zmq

3422f2c

Copilot AI review requested due to automatic review settings November 21, 2025 10:07

Copilot AI reviewed Nov 21, 2025

View reviewed changes

nepyope force-pushed the feat/unitree_g1 branch 2 times, most recently from ee774b5 to 3e204cd Compare November 21, 2025 12:54

nepyope added 10 commits November 21, 2025 14:13

finish unitree camera integration

c4bf277

add custom teleoperator, integrate unitree g1 except for eval

30c3bbe

add example config for custom teleop class

56b66b9

add weighted moving filter, assets

e5cae6b

sync recent changes

9a05256

add robot models xml etc

8f06c02

remove isaaclab, add test scripts added simulator to the hub remove mujoco env

move test scripts inside .dev

f30e15d

move test items to .dev

c477c54

trace test

b6e606c

signed test

58739f4

nepyope force-pushed the feat/unitree_g1 branch from dd382b7 to 58739f4 Compare November 21, 2025 13:14

nepyope added 2 commits November 21, 2025 14:38

test

786f4df

load mujoco sim from hub

e6c16a6

jadechoghari added the robots Issues concerning robots HW interfaces label Nov 21, 2025

nepyope added 2 commits November 21, 2025 14:49

remove leftovers from unitree_il_lerobot

3be342a

mujoco sim viewer integration

bebf9b8

imstevenpmwork marked this pull request as draft November 25, 2025 17:43

nepyope added 5 commits November 26, 2025 13:11

sync updates

c65866d

simplified robot class

c7834c3

simplify implementation

5d9266b

complete work

4bdd247

add amazon policies

b320530

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Feat/unitree g1 #2497

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nepyope commented Nov 21, 2025 •

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	# It is unsafe and would be unflexible if we use a hand-plugged robot model
	# It is unsafe and would be inflexible if we use a hand-plugged robot model


		return np.concatenate([f, torque])

		def MujuocoKeyCallback(self, key):

	def MujuocoKeyCallback(self, key):
	def MuJoCoKeyCallback(self, key):

	# assert np.isclose(np.sum(self._weights), 1.0), "[WeightedMovingFilter] the sum of weights list must be 1.0!"
	assert np.isclose(np.sum(self._weights), 1.0), "[WeightedMovingFilter] the sum of weights list must be 1.0!"


		def replay_main():

		#damp needs to be on? do i start the robot as well

	#damp needs to be on? do i start the robot as well
	# Ensure that the robot's damping mode is enabled and the robot is started before running this script.

Feat/unitree g1 #2497

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nepyope commented Nov 21, 2025 •

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