add pico teleoperator, add sonic VR support

Co-authored-by: Cursor <cursoragent@cursor.com>

examples/unitree_g1/smpl_stream.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""CLI/self-test shim for the live ``rt/smpl`` SONIC reference stream.
+
+The implementation now lives in the installed package so it can be shared with the
+``pico_headset`` teleoperator:
+``lerobot.robots.unitree_g1.smpl_stream``. This example re-exports it (so
+``from smpl_stream import SmplStream`` keeps working next to ``sonic.py``) and adds a
+standalone smoke-test entrypoint.
+
+Example:
+    python examples/unitree_g1/smpl_stream.py --smpl-host 127.0.0.1 --smpl-port 5560
+"""
+
+from __future__ import annotations
+
+import argparse
+import time
+
+import numpy as np
+
+from lerobot.robots.unitree_g1.smpl_stream import (
+    DEFAULT_SMPL_HOST,
+    DEFAULT_SMPL_PORT,
+    SMPL_OBS_DIM,
+    SMPL_TOPIC,
+    SmplStream,
+)
+
+__all__ = [
+    "DEFAULT_SMPL_HOST",
+    "DEFAULT_SMPL_PORT",
+    "SMPL_OBS_DIM",
+    "SMPL_TOPIC",
+    "SmplStream",
+]
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--smpl-host", default=DEFAULT_SMPL_HOST)
+    parser.add_argument("--smpl-port", type=int, default=DEFAULT_SMPL_PORT)
+    parser.add_argument("--ticks", type=int, default=250, help="control ticks to sample")
+    args = parser.parse_args()
+
+    stream = SmplStream(host=args.smpl_host, port=args.smpl_port)
+    print(f"Subscribed to {SMPL_TOPIC} @ tcp://{args.smpl_host}:{args.smpl_port}")
+    print("Start pico_manager_thread_server.py --manager on the publisher host.")
+    try:
+        for t in range(args.ticks):
+            w = stream.step()
+            assert w.shape == (SMPL_OBS_DIM,), w.shape
+            if t % 25 == 0:
+                print(
+                    f"  t={t} idx={stream._last_index} window_norm={np.linalg.norm(w):.3f} "
+                    f"first={stream.has_data}"
+                )
+            time.sleep(1.0 / 50.0)
+    finally:
+        stream.close()
+    print("OK: rt/smpl stream yields SONIC-format 720-vec windows.")
+
+
+if __name__ == "__main__":
+    main()