Import lerobot/unitree-g1-mujoco@68459ed6 + 23dof (rev_1_0) body variant, defaults BODY=23dof END_EFFECTOR=dummy

257dded verified 28 days ago

1.91 kB

# Validation of this update

Validated with MuJoCo 3.3.7, Python 3.12 and EGL offscreen rendering.

- Five regression tests passed using real MuJoCo: both variants and their body
  control mappings, gripper closure under external PD with a 20 N force cap,
  independent wrist-camera motion, rendering and shared-memory publication of
  all three 640 × 480 streams, and loading the portable 33-joint gripper URDF.
- Gripper scene: `nq=40`, `nv=39`, `nu=33`. Hand scene: `nq=50`, `nv=49`, `nu=43`.
  Both retain the 29 body joints in the original DDS order. Both also retain
  `global_view` in addition to the three streamed cameras.
- The closure test ran 250 physics steps (1 simulated second), reached closure
  on both grippers, stayed within the 20 N actuator limit and reported no
  MuJoCo numerical warnings.
- Original hand/no-hand model assets are retained. The hand camera variant
  adds cameras to a copy of the original model.

The regression tests replace only the DDS dependency with a test double.
A complete live LeRobot/Gym/DDS/ZMQ connection was **not run** here because
Gymnasium, Unitree SDK2/CycloneDDS, ZMQ and OpenCV were unavailable in the
execution environment. `tests/smoke_live.py` is included to run that check on
a machine with the runtime dependencies installed. The ZMQ publisher and
message serializer are unchanged; the configured camera list now includes
the wrists.

The Gym wrapper's acceleration contribution is restricted to three values,
matching its declared 97-value observation space. This fixes the original
wrapper's mismatch of 100 returned values versus 97 declared values.

Prepared against Hugging Face model revision
`a38dc8617f0fca51b38e9354dc58ee35ad850fb5`, with the LeRobot loader and camera
configuration reviewed at `b6ec0060779550c0a157ae34feb89e0cf86012a8`.
The archive is a complete local model-repository update; it has not been
published to Hugging Face.

	# Validation of this update

	Validated with MuJoCo 3.3.7, Python 3.12 and EGL offscreen rendering.

	- Five regression tests passed using real MuJoCo: both variants and their body
	control mappings, gripper closure under external PD with a 20 N force cap,
	independent wrist-camera motion, rendering and shared-memory publication of
	all three 640 × 480 streams, and loading the portable 33-joint gripper URDF.
	- Gripper scene: `nq=40`, `nv=39`, `nu=33`. Hand scene: `nq=50`, `nv=49`, `nu=43`.
	Both retain the 29 body joints in the original DDS order. Both also retain
	`global_view` in addition to the three streamed cameras.
	- The closure test ran 250 physics steps (1 simulated second), reached closure
	on both grippers, stayed within the 20 N actuator limit and reported no
	MuJoCo numerical warnings.
	- Original hand/no-hand model assets are retained. The hand camera variant
	adds cameras to a copy of the original model.

	The regression tests replace only the DDS dependency with a test double.
	A complete live LeRobot/Gym/DDS/ZMQ connection was not run here because
	Gymnasium, Unitree SDK2/CycloneDDS, ZMQ and OpenCV were unavailable in the
	execution environment. `tests/smoke_live.py` is included to run that check on
	a machine with the runtime dependencies installed. The ZMQ publisher and
	message serializer are unchanged; the configured camera list now includes
	the wrists.

	The Gym wrapper's acceleration contribution is restricted to three values,
	matching its declared 97-value observation space. This fixes the original
	wrapper's mismatch of 100 returned values versus 97 declared values.

	Prepared against Hugging Face model revision
	`a38dc8617f0fca51b38e9354dc58ee35ad850fb5`, with the LeRobot loader and camera
	configuration reviewed at `b6ec0060779550c0a157ae34feb89e0cf86012a8`.
	The archive is a complete local model-repository update; it has not been
	published to Hugging Face.