Feat/add unitree g1 robot (#2530)

* add unitree_g1_robot_class

* finish locomotion loading code

* precommit

* separate groot locomotion logic

* remove leftover locomotion variable, unify kp kd

* format config

* properly comment config, example locomotion and unitree_g1 class

* ready to review

* download policy from the hub in `examples/unitree_g1/gr00t_locomotion`

* fix linter

* make precommit happy, add ignore flags

* linter pt3

* linter pt4

* [done] make precommit happy

* fix linter 5

* add docs

* push utils

* feat(robots): add Unitree G1 humanoid support with ZMQ bridge (#2539)

* feat(robots): add Unitree G1 humanoid support with ZMQ bridge

- Use JSON + base64 serialization for secure communication instead of pickle
- Add documentation section
- Rename robot_server to run_g1_server
- Add dependecies to pyproject.toml

* nit in docs

* remove globals use

* cast robot data to int/float

* ensure robot is connected before changing mode

* temperature can be list, average in such case

---------

Co-authored-by: Martino Russi <nopyeps@gmail.com>

* style nit

* remove transform_imu_data

* remove scipy dependency

* modify toml, add external unitree_sdk2py dep

* return actions from send_action

* cleaning

* add instructions for local deployment

* Update src/lerobot/robots/unitree_g1/unitree_g1.py

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>

* update config and readme

* update docs

* update docs

* remove torch import

* fix docs

* remove ip from docs

* add licence header

---------

Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

docs/source/_toctree.yml

@@ -79,6 +79,8 @@
     title: Hope Jr
   - local: reachy2
     title: Reachy 2
+  - local: unitree_g1
+    title: Unitree G1
   title: "Robots"
 - sections:
   - local: phone_teleop