Adds teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example #3242
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ooctipus
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ooctipus
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@rwiltz @peterd-NV - would be great to get your review on the retargeting and pick-place task changes
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| # SPDX-License-Identifier: BSD-3-Clause | ||
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| # Copyright (c) 2022-2025, The Isaac Lab Project Developers. |
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could you clean up the headers to keep just the first section?
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Sure, will update in the next commit along with the correct USD asset location.
| """ | ||
| G1_INSPIRE_FTP_CFG = ArticulationCfg( | ||
| spawn=sim_utils.UsdFileCfg( | ||
| usd_path=f"./usecase/humanoid_teleop/g1_29dof_rev_1_0_with_inspire_hand_FTP/g1_29dof_rev_1_0_with_inspire_hand_retarget_inspire_white.usd", |
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we should get this USD uploaded to the Isaac Sim nucleus folder so that we can make it available publicly on the S3 bucket
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how different is this asset from the existing G1 on S3?
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The USD file and corresponding URDF files(left hand and right hand) for dex retargeting configuration have been uploaded to temp position Collected_g1_29dof
I am confirming with @renato Gasoto regarding the correct destination and access permissions.
This G1_29dof asset is different from the existing G1 on S3 in the following ways:
- Number of DOFs: The current G1 on S3 has 23 DOFs, while the new version has 29 DOFs.
- Composited asset: The new asset integrates the 5-finger Inspire hand, and both the robot/hand asset and merging code are provided below.
"""
Configuration for the Unitree G1 Humanoid robot with Inspire 5fingers hand.
The Unitree G1 URDF can be found here: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
The Inspire hand URDF is available at: https://github.com/unitreerobotics/xr_teleoperate/tree/main/assets/inspire_hand
The merging code for the hand and robot can be found here: https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/merge_g1_29dof_and_inspire_hand.ipynb,
Necessary modifications should be made to ensure the correct parent–child relationship.
"""
Note: There is a related PR3150, which includes modifications to some common files. Once PR3150 is merged, I can rebase my code to avoid any duplication. Thanks.
Signed-off-by: yami007007 <weihuaz@nvidia.com>
Description
Teleop support for Unitree G1 with Inspire 5-finger hand, take PickPlace task as an example.
Type of change
Changes:
-Preparation of the humanoid robot asset: Unitree G1 (29 DOF) with Inspire 5-finger hand
-Configuration of the robot’s articulation
-Retargeting setup for the humanoid robot
-Creation of the manipulation task environment: pickplace_unitree_g1_inspire_hand_env_cfg.py
-Addition of the step-by-step README in the pick_place folder
Below is a diagram showing the robot asset and the workflow in teleop.
Test Steps
Run the teleop task with:
python scripts/tools/record_demos.py
--task Isaac-PickPlace-G1-InspireFTP-Abs-v0
--teleop_device handtracking
--enable_pinocchio
Replay the collected demos with:
python scripts/tools/replay_demos.py
--task Isaac-PickPlace-G1-InspireFTP-Abs-v0
--enable_pinocchio
--dataset_file datasets/dataset.hdf5
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there