Root Project

Use the root project for inference, tracking policy, MuJoCo simulation, and scripts/real_bridge.py.

Setup

uv sync

If unitree_sdk2py setup cannot locate cyclonedds, refer to the upstream FAQ:

https://github.com/unitreerobotics/unitree_sdk2_python?tab=readme-ov-file#faq

Typical error:

Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH

Compile and install CycloneDDS first:

cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install
export CYCLONEDDS_HOME="$HOME/cyclonedds/install"

Then rerun your environment setup.

Verify Installation

Test ankle swing

uv run scripts/ankle_swing.py

Test inference time

uv run scripts/test_policy_inference.py \
  --policy_config checkpoints/lafan-aa/policy-ec592bb4_lafan_100style_student-5000.yaml \
  --inference_backend onnx-cpu

Next Steps

• Offline Motion Tracking