configure-g1-sim2real

name	configure-g1-sim2real
description	Configure and repair the G1 sim2real robot computer environment for root policy deployment and teleop. Use when a task mentions g1-cable, g1-deploy, deploy_5G WiFi, Hugging Face or g1_xmls cache failures, sim2real root project setup, any4hdmi sync to G1, teleop uv sync, GMR or smplx GitHub hangs, XRoboToolkit, xrobotoolkit_sdk, or JetPack 5 G1 deployment bringup.

Configure G1 sim2real

Use this skill for G1 onboard setup and repair on JetPack 5 / Ubuntu 20.04 hosts such as g1-cable or g1-deploy.

Operating Rules

1. Treat the local checkout as the source of truth for code. Use sim2real/sync-g1.sh or explicit rsync for deployment. Do not make persistent source edits only on the robot unless the change is a host-local environment workaround.
2. Use g1-deploy when Ethernet is disconnected. Use bash -lc over SSH so uv, .profile, and robot shell defaults load.
3. Keep root policy deployment and teleop separate:
   • root project: ~/sim2real plus ~/any4hdmi, uv sync --group g1, CycloneDDS, HF asset cache, ONNX inference smoke.
   • teleop project: ~/sim2real/venv/teleop, GMR/smplx dependencies, XRoboToolkit service and xrobotoolkit_sdk.
4. If a command needs sudo, provide the exact command and use the user's interactive sudo tmux only when available. Do not hide a blocked sudo prompt behind a "done" claim.

Workflow

1. Establish network access.
   • If WiFi is not connected, ask the operator to run: sudo nmcli dev wifi connect deploy_5G password 88888888 ifname wlan0 and then set low route metrics for deploy_5G.
   • If Hugging Face or GitHub hangs, create a reverse proxy tunnel from the local machine to the robot, normally local 127.0.0.1:7890 to remote 127.0.0.1:7891.
2. Fix Hugging Face first.
   • Ensure elijahgalahad/g1_xmls is cached on the robot.
   • Set persistent robot shell defaults for HF_ENDPOINT, HF_HUB_DISABLE_TELEMETRY, and deploy-time HF_HUB_OFFLINE=1.
   • Verify with mjhub.resolve_asset_reference(...), not only by listing the cache directory.
3. Configure the root project.
   • Build or locate CycloneDDS, export CYCLONEDDS_HOME and LD_LIBRARY_PATH, run uv sync --group g1, then verify imports.
   • Run the onboard ONNX CPU benchmark before claiming root deployment is ready.
4. Sync motion assets.
   • Put G1-targeted motion datasets under any4hdmi/output/g1/....
   • Add explicit include rules to sim2real/sync-g1.sh for any new dataset path and run the sync against G1_HOST=g1-deploy.
   • If the sync script excludes sync*.sh, copy the updated sync script to the robot explicitly after editing it.
5. Configure teleop.
   • Run uv --project venv/teleop sync.
   • If remote GitHub fetches hang, seed local source copies for GMR and smplx on the robot and patch only the robot's teleop dependency files to file:///home/elijah/src/....
   • Install the XRoboToolkit service .deb with sudo, copy/build the pybind project, and verify xrobotoolkit_sdk import in the teleop env.
6. Read references/g1-setup-runbook.md for concrete commands and failure mappings before touching a live robot.

Completion Checks

• ssh g1-deploy 'bash -lc "echo $HF_HUB_OFFLINE $HF_ENDPOINT; uv --version"' shows the intended shell defaults and uv.
• mjhub.resolve_asset_reference("hf://elijahgalahad/g1_xmls@main/g1-mode_13_15.xml") returns a local cached file.
• cd ~/sim2real && uv sync --group g1 is complete and the root env imports sim2real, any4hdmi, mujoco, onnxruntime, cyclonedds, unitree_sdk2py, and unitree_interface.
• scripts/test_policy_inference.py runs with --inference_backend onnx-cpu on the robot.
• uv --project venv/teleop run python -c 'import xrobotoolkit_sdk' succeeds.
• Teleop scripts at least compile with py_compile; real teleop still needs the XRoboToolkit service running and hardware state ready.

Failure Reading

• low state not ready after policy startup is a robot/bridge low-state issue, not a Hugging Face issue.
• Keyboard listener stopped unexpectedly: Inappropriate ioctl during SSH smoke tests usually means noninteractive SSH and is not itself a deploy failure.
• GitHub dependency hangs during uv sync are better handled by local source seeding than by waiting indefinitely on the robot network.
• runtime_version.h missing or protobuf stubs compile failures in XRoboToolkit mean the SDK is using the wrong or incomplete bundled gRPC tree.