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Feat/add unitree g1 robot (#2530)

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* 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>
This commit is contained in:
Martino Russi
2025-12-01 16:10:13 +01:00
committed by GitHub
parent 5f7b5f2817
commit 37f43df88a
10 changed files with 1365 additions and 0 deletions
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pyproject.toml
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@@ -107,6 +107,10 @@ dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
unitree_g1 = [
"pyzmq>=26.2.1,<28.0.0",
"onnxruntime>=1.16.0"
]
reachy2 = ["reachy2_sdk>=1.0.14,<1.1.0"]
kinematics = ["lerobot[placo-dep]"]
intelrealsense = [