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fix(g1): give the teleop arm model the acceleration limit the planner… #4148

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Merged
KrishnaH96 merged 4 commits into from
Sep 15, 2026
+8 −0
Merged

fix(g1): give the teleop arm model the acceleration limit the planner… #4148

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89c9c6c
fix(g1): give the teleop arm model the acceleration limit the planner…
KrishnaH96 Sep 14, 2026
900cc2f
Merge branch 'main' into krishna/fix/rel-g1-teleop-accel-limit
TomCC7 Sep 14, 2026
1e510c9
test(g1): the planning validation test needs the LFS URDF, run it sel…
KrishnaH96 Sep 15, 2026
1433e7e
Merge branch 'main' into krishna/fix/rel-g1-teleop-accel-limit
KrishnaH96 Sep 15, 2026
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1 change: 1 addition & 0 deletions dimos/robot/unitree/g1/manip_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ def _urdf_joint_name(coordinator_name: str) -> str:
{_urdf_joint_name(joint_name): joint_name for joint_name in _G1_TELEOP_MODEL_JOINTS}
)
.with_fixed_joints(*(_urdf_joint_name(name) for name in G1_WAIST_JOINTS))
.with_default_joint_acceleration_limit(2.0)
)


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7 changes: 7 additions & 0 deletions dimos/robot/unitree/g1/test_g1_teleop.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
from dimos.control.tasks.trajectory_task.trajectory_task import JOINT_TRAJECTORY_TASK_NAME
from dimos.control.teleop_coordinator import TeleopControlCoordinator
from dimos.core.coordination.blueprints import Blueprint
from dimos.manipulation.planning.spec.validation import prepare_robot_model
from dimos.manipulation.visualization.viser.config import ViserVisualizationConfig
from dimos.robot.unitree.g1.blueprints.basic.unitree_g1_groot_wbc import (
_G1_TELEOP_MODEL,
Expand Down Expand Up @@ -82,6 +83,12 @@ def test_g1_blueprint_uses_shared_bimanual_teleop_task() -> None:
assert task.params["max_joint_velocity_rad_s"] == pytest.approx(np.deg2rad(120.0))


@pytest.mark.self_hosted
def test_g1_teleop_model_passes_planning_validation() -> None:
"""The coordinator prepares this model at start; missing limits raise here."""
assert prepare_robot_model(_G1_TELEOP_MODEL).joint_space


def test_g1_blueprint_keeps_bounded_trajectory_path_below_teleop() -> None:
coordinator = next(
atom
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