inspect-robots-unitree-g1 0.1.0__tar.gz

inspect_robots_unitree_g1-0.1.0/.env.example

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+# Optional overrides commonly used by local launch scripts.
+GR00T_HOST=127.0.0.1
+GR00T_PORT=5555
+G1_IFACE=eth0
+G1_CAMERA_ADDRESS=tcp://192.168.123.164:5556

inspect_robots_unitree_g1-0.1.0/.github/workflows/canary.yml

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+name: Canary
+
+# Weekly fresh-resolution test. Regular CI installs from uv.lock, so it can't
+# see that a new release of an allowed dependency breaks us — this job can:
+# it resolves the latest versions the pyproject ranges allow (ignoring the
+# lockfile) and runs the test suite. On failure it opens an issue, like the
+# red-main alert. A green canary is also the signal that it's safe to refresh
+# the lockfile (`uv lock --upgrade`).
+on:
+  schedule:
+    - cron: "23 5 * * 1"  # Mondays 05:23 UTC
+  workflow_dispatch:
+
+jobs:
+  fresh-deps:
+    name: fresh resolution (latest allowed deps)
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      issues: write  # open the failure alert
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0  # hatch-vcs derives the version from git tags
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+      - name: Create venv
+        run: uv venv --python 3.12
+      - name: Install latest allowed deps (unlocked)
+        run: uv pip install -e ".[dev]"
+      - name: Pytest
+        run: uv run --no-sync pytest -q
+      - name: Open an issue on failure (unless one is already open)
+        if: ${{ failure() }}
+        env:
+          GH_TOKEN: ${{ github.token }}
+          RUN_URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+        run: |
+          existing=$(gh issue list -R "$GITHUB_REPOSITORY" --state open --search "Canary in:title" --json number --jq length)
+          if [ "$existing" = "0" ]; then
+            gh issue create -R "$GITHUB_REPOSITORY" \
+              --title "Canary: latest allowed dependencies break the build" \
+              --body "The weekly fresh-resolution canary failed: $RUN_URL — a new release of an allowed dependency likely breaks us. Fix: cap the offending dependency in pyproject.toml (then uv lock), or adapt the code and refresh the lock with uv lock --upgrade."
+          else
+            echo "an open canary issue already exists; not filing another"
+          fi

inspect_robots_unitree_g1-0.1.0/.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ci-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  quality:
+    name: lint · type
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+          cache-dependency-glob: |
+            **/pyproject.toml
+            **/uv.lock
+      - name: Install from uv.lock (dev extras)
+        run: uv sync --locked --python 3.11 --extra dev
+      - name: Ruff (lint)
+        run: uv run ruff check .
+      - name: Ruff (format check)
+        run: uv run ruff format --check .
+      - name: Mypy (strict)
+        run: uv run mypy
+
+  test:
+    name: test (${{ matrix.os }}, py${{ matrix.python-version }})
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 15
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+          cache-dependency-glob: |
+            **/pyproject.toml
+            **/uv.lock
+      - name: Install from uv.lock (dev extras)
+        run: uv sync --locked --python ${{ matrix.python-version }} --extra dev
+      - name: Pytest (100% coverage)
+        run: uv run pytest --cov --cov-report=term-missing
+
+  import-hygiene:
+    name: import with minimal dependencies
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+          cache-dependency-glob: |
+            **/pyproject.toml
+            **/uv.lock
+      - name: Install package with only locked core pins
+        run: |
+          uv venv --python 3.12
+          uv pip install --no-deps .
+          uv export --locked --no-emit-project --no-hashes \
+            | grep -E '^(inspect-robots|numpy)==' > /tmp/minimal-locked.txt
+          uv pip install -r /tmp/minimal-locked.txt
+      - name: Assert integrations absent, then import
+        run: |
+          .venv/bin/python - <<'PY'
+          import importlib.util
+          for mod in ("zmq", "msgpack", "msgpack_numpy", "cv2", "unitree_sdk2py", "torch"):
+              assert importlib.util.find_spec(mod) is None, f"{mod} unexpectedly installed"
+          import inspect_robots_unitree_g1
+          print(
+              "inspect_robots_unitree_g1",
+              inspect_robots_unitree_g1.__version__,
+              "imported with minimal deps",
+          )
+          PY
+
+  gr00t-seam:
+    name: pinned Isaac-GR00T protocol seam
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+      - name: Fetch and verify pinned protocol files
+        env:
+          # verified 2026-07-17 against main
+          ISAAC_GR00T_REF: 9c7e746b2cd37a810070a98ef41d290a07e806c2
+        run: |
+          base="https://raw.githubusercontent.com/NVIDIA/Isaac-GR00T/$ISAAC_GR00T_REF"
+          curl --fail --silent --show-error "$base/gr00t/policy/server_client.py" -o /tmp/server_client.py
+          curl --fail --silent --show-error "$base/gr00t/policy/policy.py" -o /tmp/policy.py
+          curl --fail --silent --show-error "$base/gr00t/policy/gr00t_policy.py" -o /tmp/gr00t_policy.py
+          curl --fail --silent --show-error "$base/gr00t/configs/data/embodiment_configs.py" -o /tmp/embodiment_configs.py
+          python - <<'PY'
+          from pathlib import Path
+
+          checks = {
+              "/tmp/server_client.py": [
+                  'request: dict = {"endpoint": endpoint}',
+                  '"get_action"',
+                  "msgpack.packb",
+                  "msgpack.unpackb",
+                  "tuple(response)",
+                  "zmq.error.Again",
+                  "_init_socket",
+                  "RCVTIMEO",
+              ],
+              "/tmp/policy.py": ["def get_action", "check_observation"],
+              "/tmp/gr00t_policy.py": ["decode_action", '["video", "state", "language"]'],
+              "/tmp/embodiment_configs.py": [
+                  '"unitree_g1_full_body_with_waist_height_nav_cmd"',
+                  '"annotation.human.task_description"',
+                  '"ego_view"',
+                  '"left_leg"',
+              ],
+          }
+          for path, needles in checks.items():
+              text = Path(path).read_text()
+              for needle in needles:
+                  assert needle in text, f"{path} lost {needle!r}"
+          PY
+      - name: Import lazy wire dependencies
+        run: |
+          uv venv --python 3.12
+          uv pip install pyzmq msgpack msgpack-numpy
+          uv run --no-sync python - <<'PY'
+          import msgpack
+          import msgpack_numpy
+          import zmq
+          PY
+
+  ci-ok:
+    name: ci-ok
+    if: ${{ always() }}
+    needs: [quality, test, import-hygiene, gr00t-seam]
+    runs-on: ubuntu-latest
+    steps:
+      - name: Fail unless every needed job succeeded
+        env:
+          RESULTS: ${{ toJSON(needs) }}
+        run: echo "$RESULTS" | jq -e 'all(.[]; .result == "success")'
+
+  alert-red-main:
+    name: alert on red main
+    if: ${{ failure() && github.event_name == 'push' }}
+    needs: [quality, test, import-hygiene, gr00t-seam]
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+    steps:
+      - name: Open an issue unless one is already open
+        env:
+          GH_TOKEN: ${{ github.token }}
+          RUN_URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+        run: |
+          existing=$(gh issue list -R "$GITHUB_REPOSITORY" --state open --search "CI is red on main in:title" --json number --jq length)
+          if [ "$existing" = "0" ]; then
+            gh issue create -R "$GITHUB_REPOSITORY" \
+              --title "CI is red on main (${GITHUB_SHA:0:8})" \
+              --body "CI failed on a push to main: $RUN_URL. Stop the line: fix forward or revert before merging anything else. If the failure is transient, re-run the failed jobs and close this issue."
+          else
+            echo "an open red-main issue already exists; not filing another"
+          fi

inspect_robots_unitree_g1-0.1.0/.github/workflows/release.yml

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+name: Release
+
+# Two ways to release; both publish to PyPI via trusted publishing (OIDC):
+#
+#   1. One-click: Actions -> Release -> "Run workflow" -> pick a version bump.
+#      The version is derived from git tags by hatch-vcs, so the cut job only
+#      computes the next tag and creates the GitHub release — nothing is
+#      committed or pushed to main (main is PR-only). Publish then runs in
+#      this same workflow run. (A release created with the built-in
+#      GITHUB_TOKEN never re-triggers workflows, which is why publish must
+#      live in this run rather than firing on the release event.)
+#
+#   2. Manual: publish a GitHub release by hand — the publish job runs on the
+#      release event. The tag must point at a commit that contains this file.
+on:
+  release:
+    types: [published]
+  workflow_dispatch:
+    inputs:
+      bump:
+        description: "Version bump (applied to the latest v* tag)"
+        type: choice
+        options: [patch, minor, major]
+        default: patch
+
+concurrency:
+  group: release
+  cancel-in-progress: false
+
+jobs:
+  cut:
+    if: github.event_name == 'workflow_dispatch'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write  # create the tag + release
+    outputs:
+      tag: ${{ steps.bump.outputs.tag }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0  # full tag history to find the latest version
+      - name: Compute next tag from latest v* tag
+        id: bump
+        env:
+          BUMP: ${{ inputs.bump }}
+        run: |
+          latest=$(git tag --list 'v*' --sort=-v:refname | head -1)
+          latest=${latest:-v0.0.0}
+          IFS=. read -r major minor patch <<< "${latest#v}"
+          case "$BUMP" in
+            major) major=$((major+1)); minor=0; patch=0 ;;
+            minor) minor=$((minor+1)); patch=0 ;;
+            patch) patch=$((patch+1)) ;;
+          esac
+          echo "tag: $latest -> v$major.$minor.$patch"
+          echo "tag=v$major.$minor.$patch" >> "$GITHUB_OUTPUT"
+      - name: Create GitHub release
+        env:
+          GH_TOKEN: ${{ github.token }}
+          TAG: ${{ steps.bump.outputs.tag }}
+        run: gh release create "$TAG" --target "$GITHUB_SHA" --title "$TAG" --generate-notes
+
+  publish:
+    # Directly on manual release events; after cut on workflow_dispatch.
+    needs: [cut]
+    if: ${{ !cancelled() && (github.event_name == 'release' || needs.cut.result == 'success') }}
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write  # OIDC token for PyPI trusted publishing
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.cut.outputs.tag || github.ref }}
+          fetch-depth: 0  # hatch-vcs derives the version from git tags
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+      - name: Build sdist + wheel
+        run: uv build
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1

inspect_robots_unitree_g1-0.1.0/.gitignore

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+# Python
+__pycache__/
+*.py[cod]
+*.egg-info/
+.eggs/
+build/
+dist/
+
+# Virtualenvs
+.venv/
+venv/
+
+# Test / coverage
+.pytest_cache/
+.coverage
+coverage.xml
+htmlcov/
+.mypy_cache/
+.ruff_cache/
+.uv-cache/
+
+# Secrets / env
+.env
+.env.*
+!.env.example
+
+# OS / editor
+.DS_Store
+.idea/
+.vscode/
+
+# Agent worktrees
+.worktrees/

inspect_robots_unitree_g1-0.1.0/.pre-commit-config.yaml

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+# Pre-commit hooks for inspect-robots-unitree-g1. Install once per clone:
+#
+#     uv run pre-commit install        # sets up both pre-commit and pre-push hooks
+#
+# On commit: file hygiene + ruff (lint & format) + mypy (strict).
+# On push:   pytest with the 100% coverage gate.
+#
+# Local hooks run through `uv run` so they use this project's dev environment
+# (matching CI) regardless of whether a virtualenv is activated. Requires uv.
+default_install_hook_types: [pre-commit, pre-push]
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-toml
+      - id: check-merge-conflict
+      - id: check-added-large-files
+
+  - repo: local
+    hooks:
+      - id: ruff-check
+        name: ruff (lint, autofix)
+        entry: uv run ruff check --fix
+        language: system
+        types_or: [python, pyi]
+        require_serial: true
+
+      - id: ruff-format
+        name: ruff (format)
+        entry: uv run ruff format
+        language: system
+        types_or: [python, pyi]
+        require_serial: true
+
+      - id: mypy
+        name: mypy (strict)
+        entry: uv run mypy
+        language: system
+        types: [python]
+        pass_filenames: false
+
+      - id: pytest-coverage
+        name: pytest (100% coverage gate)
+        entry: uv run pytest --cov --cov-report=term-missing
+        language: system
+        always_run: true
+        pass_filenames: false
+        stages: [pre-push]

inspect_robots_unitree_g1-0.1.0/CITATION.cff

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+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+title: "Inspect Robots Unitree G1: GR00T adapters for G1 arms"
+authors:
+  - name: "Robocurve"
+type: software
+license: MIT
+repository-code: "https://github.com/robocurve/inspect-robots-unitree-g1"
+version: "0.1.0"

inspect_robots_unitree_g1-0.1.0/CLAUDE.md

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+# inspect-robots-unitree-g1 agent guide
+
+Inspect Robots adapters for Unitree G1 arms controlled through arm_sdk and
+Isaac-GR00T policy servers.
+
+## The one big idea
+
+The `g1_arms` embodiment and `gr00t` policy share one absolute 16-D
+`joint_pos` contract. It contains seven left arm radians, one normalized left
+hand, seven right arm radians, and one normalized right hand.
+
+## Layout
+
+- `src/inspect_robots_unitree_g1/` contains the package.
+- `tests/` contains injected hardware-free tests.
+- `plans/0001-g1-gr00t-design.md` is the accepted binding design.
+
+## Working here
+
+- Set `UV_CACHE_DIR=$PWD/.uv-cache` for uv commands.
+- Run ruff check, ruff format check, strict mypy, and pytest with coverage.
+- Keep optional SDK, ZMQ, msgpack, and OpenCV imports lazy.
+- Keep 100 percent statement and branch coverage.
+
+## Safety invariants
+
+- Weight is blended in while holding the measured pose before homing.
+- Every reset reseeds the command baseline from measured arm joints.
+- Every action is hard-clamped and speed-limited in the embodiment.
+- Close opens hands, parks arms, blends weight to zero, then disconnects.
+- Construction performs no hardware, network, camera, signal, or stdin work.
+- Success reaches scoring only through `termination_reason="success"`.
+
+## CI and releases
+
+- CI installs from `uv.lock`.
+- `ci-ok` needs every blocking job.
+- Versions come from git tags through hatch-vcs.
+
+## Writing style
+
+- Do not use em dashes in prose.
+- Do not use decorative emoji.
+- Use plain headers without trailing colons.

inspect_robots_unitree_g1-0.1.0/LICENSE

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+MIT License
+
+Copyright (c) 2026 RoboCurve
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.