Add WBC-AGILE e2e velocity policy for G1#489
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Integrate the AGILE e2e ONNX policy (unitree_g1_velocity_e2e.onnx) as a new lower-body WBC policy alongside the existing Homie policy. The AGILE model takes raw sensor inputs and manages observation history internally via ONNX feedback connections, controlling 14 joints (legs + waist_roll/pitch). The ONNX model binary must be obtained separately from https://github.com/nvidia-isaac/WBC-AGILE and placed at wbc_policy/models/agile/unitree_g1_velocity_e2e.onnx Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Add docker/setup/download_wbc_models.sh that downloads and SHA256-verifies the AGILE ONNX model from GitHub. The policy constructor now raises a clear FileNotFoundError if the model is missing. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Remove unused _STATE_KEYS class variable from G1AgilePolicy - Remove assert that made use_policy_action toggle dead code - Add test for toggle_policy_action passthrough behavior - Add TestAgileStability class with multi-step stability tests verifying bounded outputs (proxy for root z > 0.5m) - Fix import ordering and formatting (pre-commit auto-fixes) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Fix reset() clobbering cmd for all envs instead of only reset env_ids - Replace hard-coded 14 with config["num_actions"] in _make_zero_state - Match base class get_action signature (add time parameter) - Add missing tests/__init__.py with license header - Make parent_dir a local variable in __init__ (only used there) - Add --fail flag to curl in download_wbc_models.sh Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
G1AgilePolicyclass integrating the WBC-AGILE end-to-end ONNX policy (unitree_g1_velocity_e2e.onnx) as a new lower-body WBC option alongside the existing Homie policy"agile"as a newwbc_versionin the policy factory with correspondingAgileConfigdataclassdownload_wbc_models.shscript for downloading the ONNX model with SHA256 verificationSetup
The ONNX model must be downloaded before tests can run:
This downloads the model from https://github.com/nvidia-isaac/WBC-AGILE and places it at:
Changes (beyond the base PR)
Post-review fixes committed on top:
_STATE_KEYSclass variable fromG1AgilePolicy(dead code)assert self.use_policy_actionthat made theelsepassthrough branch unreachabletest_toggle_policy_actiontest verifying the passthrough toggle works correctlyTestAgileStabilitytest class with multi-step stability tests (100-200 steps) verifying bounded, non-divergent outputs as a proxy for maintaining root z > 0.5mTest plan