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

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- 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
This commit is contained in:
Michel Aractingi
2025-11-27 17:32:24 +01:00
parent 53c678c29f
commit 414df3ef5b
9 changed files with 462 additions and 166 deletions
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pyproject.toml
+4
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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",
"unitree_sdk2py @ git+https://github.com/unitreerobotics/unitree_sdk2_python.git",
]
reachy2 = ["reachy2_sdk>=1.0.14,<1.1.0"]
kinematics = ["lerobot[placo-dep]"]
intelrealsense = [