WBC_Deploy Controller

Whole-Body Control deployment system for humanoid robots using reinforcement learning and motion tracking.

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Features

• State Machine Control: Multiple FSM states including Passive, Loco (locomotion), and WBC (whole-body control)
• Motion Tracking: Real-time tracking of LAFAN1 motion dataset retargeted for Unitree G1 humanoid robots
• ONNX Runtime: Fast inference with ONNX models
• Configurable: JSON-based configuration for easy parameter tuning

Prerequisites

• CMake >= 3.14
• C++17 compiler
• CUDA
• Required libraries:
  • unitree_sdk2
  • ONNX Runtime 1.22.0 (see installation below)
  • Eigen3
  • nlohmann_json >= 3.7.3
  • Boost

Installing ONNX Runtime

Download and extract ONNX Runtime 1.22.0 to the controller/ directory:

For x64 (Simulation):

cd controller/
wget https://github.com/microsoft/onnxruntime/releases/download/v1.22.0/onnxruntime-linux-x64-1.22.0.tgz
tar -xzf onnxruntime-linux-x64-1.22.0.tgz

For aarch64 (Real Robot):

cd controller/
wget https://github.com/microsoft/onnxruntime/releases/download/v1.22.0/onnxruntime-linux-aarch64-1.22.0.tgz
tar -xzf onnxruntime-linux-aarch64-1.22.0.tgz

Building

mkdir -p build
cd build
cmake ..
make -j4

Configuration

Configuration files are located in config/:

• wbc.json: WBC state configuration
• loco.json: Locomotion state configuration
• fixedpose.json: FixedStand state configuration
• passive.json: Passive state configuration

Example configuration (wbc.json):

{
    "model_path": "model/wbc/lafan1_0128_1.onnx",
    "folder_path": "motion_data/lafan1/dance12_binary",
    "enter_idx": 0,
    "pause_idx": 350,
    "safe_projgravity_threshold": 0.5
}

Running

Deploy on Mujoco Simulation

1. Install Unitree Mujoco following the instructions at https://github.com/unitreerobotics/unitree_mujoco

2. Set the ONNX Runtime path in CMakeLists.txt:

   set(ONNXRUNTIME_ROOT ${PROJECT_SOURCE_DIR}/onnxruntime-linux-x64-1.22.0)

3. Configure the network interface in controller/src/interface/IOSDK.cpp:

   ChannelFactory::Instance()->Init(1, "lo"); // lo for simulation

4. Build the project:

   cd build
   cmake ..
   make -j4

5. Edit unitree_mujoco/config.yaml and Start the simulation:

   robot: "g1"  # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1"
   robot_scene: "scene_29dof.xml" # Robot scene, /unitree_robots/[robot]/scene.xml 
   domain_id: 1  # Domain id
   interface: "lo" # Interface 
   use_joystick: 1 # Simulate Unitree WirelessController using a gamepad
   joystick_type: "xbox" # support "xbox" and "switch" gamepad layout
   joystick_device: "/dev/input/js0" # Device path
   joystick_bits: 16 # Some game controllers may only have 8-bit accuracy
   print_scene_information: 1 # Print link, joint and sensors information of robot
   enable_elastic_band: 1 # Virtual spring band, used for lifting h1

   cd simulate/build
   ./unitree_mujoco

6. Run the controller (in a new terminal):

   cd controller/build
   ./wbc_fsm

Deploy on Real Robot

1. Copy this project to /home/unitree on the Unitree G1 robot's PC2 computer

2. Set the ONNX Runtime path in CMakeLists.txt:

   set(ONNXRUNTIME_ROOT ${PROJECT_SOURCE_DIR}/onnxruntime-linux-aarch64-1.22.0)

3. Configure the network interface in controller/src/interface/IOSDK.cpp:

   ChannelFactory::Instance()->Init(0, "eth0"); // eth0 for real robot

4. Build the project:

   cd build
   cmake ..
   make -j4

5. Run the controller:

   ./wbc_fsm

Controls

Controller Commands

• R1: Resume WBC state (when paused)
• R2: Pause WBC state (at specified frame)
• L2: Pause WBC state (at current frame)
• R2+A: Switch to Loco mode
• L2+B: Switch to Passive mode
• SELECT: Exit program

Operation Procedure

1. After starting the program, the robot enters Damping Protection Mode
2. Press START to enter position control mode
3. Suspend the robot (In simulation, enable_elastic_band is enabled by default. Press keyboard 9 to release the band, press again to re-suspend. Press 8 to lower, 7 to raise)
4. Press R2+A on the controller to enter Loco(AMP) Mode, then release the suspension band
   • Press R2+up to enter high speed mode(running)
   • Press R2+down to enter low speed mode(walking)
5. Press R2+B on the controller to enter Loco(RL) Mode
6. Press R1+Up on the controller to enter WBC (Whole-Body Control) Mode
   • Press R2 to pause the motion
   • Press R1 to resume the motion

Project Structure

controller/
├── config/           # Configuration files
├── include/          # Header files
│   ├── common/      # Common utilities
│   ├── control/     # Control components
│   ├── FSM/         # State machine states
│   ├── interface/   # Hardware interfaces
│   └── message/     # Message definitions
├── src/             # Source files
│   ├── main.cpp
│   ├── control/
│   ├── FSM/
│   └── interface/
├── model/           # ONNX models
├── motion_data/     # Motion reference data
└── CMakeLists.txt

License

This project is based on Unitree Robotics SDK2 framework.

Original framework: Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.

Modified and extended by [ccrpRepo / ZSTU Robotics] © 2026

Acknowledgments

• Based on Unitree Robotics SDK2
• Motion data from LAFAN1 dataset
• ONNX Runtime for model inference