LeRobot + ugo Nova

This package connects the ugo Nova humanoid to Hugging Face's LeRobot. Once installed, the robot type ugo_nova is available to the LeRobot CLI tools. It reads Nova's joint states and cameras and sends joint position commands over ROS 2.

Installation

pip install lerobot_robot_ugo_nova

Requires Python 3.12. This installs lerobot==0.6.1; add the LeRobot extras your policy needs.

On the robot, install into an environment that can see ROS 2 Jazzy's rclpy, e.g. a venv created with python3 -m venv --system-site-packages after source /opt/ros/jazzy/setup.bash.

Check Installed Version

python -c "from importlib.metadata import version; print(version('lerobot_robot_ugo_nova'))"

Quick Start

Setup Variables

export REPO_ID="username/my_dataset"
export TASK_NAME="Pick up the cup"

Inference

lerobot-rollout \
  --strategy.type=base \
  --robot.type=ugo_nova \
  --policy.path=<checkpoint> \
  --inference.type=rtc \
  --task="$TASK_NAME" \
  --duration=60

Replay

lerobot-replay \
  --robot.type=ugo_nova \
  --dataset.repo_id=$REPO_ID \
  --dataset.episode=0

Dataset Viewer

lerobot-dataset-viz \
  --repo-id $REPO_ID \
  --episode-index 0

Policy Training

lerobot-train \
  --dataset.repo_id=$REPO_ID \
  --policy.type=act \
  --policy.device=cuda \
  --policy.push_to_hub=false \
  --output_dir=outputs/train/my_policy \
  --job_name=my_policy

Configuration

Override any field with --robot.<field>=..., e.g. --robot.exclude_joints='[waist_j1, waist_j2, waist_j3]'.

See config_ugo_nova.py for the full joint list.

ROS 2 Interface

• Observation: joint positions (rad) keyed by <joint>.pos (e.g. arm_r_j1.pos), and one RGB image per camera.
• Action: target joint positions (rad) keyed by <joint>.pos, published as one array in joint_names order. Excluded joints are sent as NaN, which the controller treats as "keep the current target".

Development

git clone https://github.com/ugo-plus/lerobot-robot-ugo-nova.git
cd lerobot-robot-ugo-nova
pip install -e .

License

Apache-2.0. See LICENSE.