add holosoma locomotion

[nepyope]

Add holosoma locomotion from Amazon-FAR

[HuggingFaceDocBuilderDev]

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[Copilot]

Pull request overview

This PR adds the Holosoma whole-body locomotion controller for the Unitree G1 robot and refactors the existing GR00T locomotion example for better consistency. The Holosoma implementation comes from Amazon FAR's open-source project and provides an alternative locomotion policy that supports both FastSAC and PPO variants. The refactoring work aligns naming conventions and code structure between the two locomotion examples.

Key changes:

• Added new holosoma_locomotion.py example with support for FastSAC (default) and PPO policies
• Refactored gr00t_locomotion.py variable names and comments for consistency (e.g., locomotion_cmd → cmd, groot_locomotion_run → run_step)
• Updated documentation to include holosoma locomotion instructions

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 6 comments.

File	Description
examples/unitree_g1/holosoma_locomotion.py	New whole-body locomotion controller implementing Holosoma policies from Amazon FAR, with ONNX-based policy loading and KP/KD extraction from model metadata
examples/unitree_g1/gr00t_locomotion.py	Refactored for consistency with holosoma implementation - renamed variables, standardized method names, and updated comments/docstrings
docs/source/unitree_g1.mdx	Added holosoma locomotion example to documentation and updated section headers for clarity

Comments suppressed due to low confidence (1)

examples/unitree_g1/gr00t_locomotion.py:50

• Inconsistent type annotations for module-level constants. Either all constants should have type annotations or none should. ACTION_SCALE and CONTROL_DT don't have type annotations while ANG_VEL_SCALE, DOF_POS_SCALE, DOF_VEL_SCALE, and CMD_SCALE do. For consistency, consider either adding type annotations to all constants or removing them from all.

ACTION_SCALE = 0.25
CONTROL_DT = 0.02  # 50Hz
ANG_VEL_SCALE: float = 0.25
DOF_POS_SCALE: float = 1.0
DOF_VEL_SCALE: float = 0.05
CMD_SCALE: list = [2.0, 2.0, 0.25]

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