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Merged
wlgys8 merged 9 commits into from
Oct 20, 2026
Merged

Feat/g1 native deploy #142

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7027445
feat(deploy): add persistent program runtime contracts
MrH-creater Oct 19, 2026
614223d
feat(deploy): add program application configs and deploy presets
MrH-creater Oct 19, 2026
69d1f60
feat(deploy-tasks): add G1 walk/WBT hot-swapping program and walk art…
MrH-creater Oct 19, 2026
892fefb
feat(deploy-unitree): add G1 29-DOF hardware backend and native adapter
MrH-creater Oct 19, 2026
aa6a279
feat(unitree-native): add C++ DDS transport extension for G1 low-leve…
MrH-creater Oct 19, 2026
7b61623
feat(envs): export G1 walk deployment profile
MrH-creater Oct 19, 2026
d973170
chore: ignore native build artifacts
MrH-creater Oct 19, 2026
010f016
chore: add missing license headers
MrH-creater Oct 19, 2026
9cf11a9
Potential fix for pull request finding
MrH-creater Oct 20, 2026
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4 changes: 4 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -15,3 +15,7 @@ docs/source/index.md
.worktrees
.obsidian
/unitree_sdk2_python/
build/
dist/
*.so
*.egg-info/
375 changes: 375 additions & 0 deletions artifacts/g1-flat.deploy/manifest.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,375 @@
{
"control": {
"angular_velocity_frame": "body",
"base_orientation": "body_to_world",
"mode": "joint_servo",
"period_s": 0.02,
"quaternion_order": "xyzw",
"state_timeout_s": 0.1
},
"payloads": [],
"policy": {
"component_version": "onnx/v1",
"input": {
"dtype": "float32",
"name": "obs",
"shape": [
1,
100
]
},
"output": {
"dtype": "float32",
"name": "actions",
"shape": [
1,
29
]
},
"payload_path": "policy/model.onnx",
"sha256": "21d8aa4c77e5ba7ee3876974c5f28223b284da33544921a20286e0a091b2a54c"
},
"robot": {
"base_link_name": "pelvis",
"default_joint_position": [
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"joint_names": [
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"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"
],
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},
"schema_version": "motrix-deploy/v1",
"source": {
"checkpoint": "checkpoints/latest.pt",
"framework": "motrix.fastsac/torch",
"run_id": "26-10-14_20-24-17-390551"
},
"task": {
"config": {
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"action_scale": [
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"base_angular_velocity_scale": 0.25,
"command_lower": [
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],
"command_upper": [
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],
"gait_period_s": 1.0,
"gait_phase_offsets_rad": [
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],
"joint_position_scale": 1.0,
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"kd": [
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"kp": [
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],
"standing_command_threshold": 0.01
},
"name": "g1_walk/v1"
}
}
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