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

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