feat(robots): Unitree G1 WBC implementation (#2876)

* move locomotion from examples to robot, move controller to teleoperator class

* modify teleoperate to send back actions to robot

* whole body controller

* add holosoma to locomotros

* various updates

* update joint zeroing etc

* ensure safefail with locomotion

* add unitree locomotion

* launch camera from g1 server

* publish at varying framerates

* fix async read in camera

* attempting to fix camera lag

* test camera speedup

* training

* inference works

* remove logging from pi0

* remove logging

* push local changes

* testing

* final changes

* revert control_utils

* revert utils

* revert

* revert g1

* revert again:

* revert utils

* push recents

* remove examples

* remove junk

* remove mjlog

* revergt edit_dataset

* Update lerobot_edit_dataset.py

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

* undo teleop changes

* revert logging

* remove loggings

* remove loogs

* revert dataset tools

* Update dataset_tools.py

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

* move gravity to utils

* revert changes

* remove matplotlib viewer (rerun works fine)

* factory revert

* send policy action directly

* recent changes

* implement flexible action space

* send empty command if arms are missing

* rename locomotion to controller

* add init

* implement feedback

* add feedback for teleoperator

* fix ruff

* fix ruff

* use read_latest

* fix zmq camera

* revert exo_serial

* simplify PR

* revert exo_changes

* revert camera_zmq

* Update camera_zmq.py

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

* remove frame duplication from zmq server

* revert channerfactoryinitialize

* keep channelfactoryinitialize

* remove zeroing out logic

* fix typo

* refactor teleop class

* simplify teleop further

* import armindex at the top

* fix visualizer again

* revert ik helper

* push stuff

* simplify image_server

* update image_server

* asd

* add threading logic

* simplify ik helper stuff

* simplify holosoma

* fix names

* fix docs

* revert leg override

* clean connect

* fix controller

* fix ruff

* clean teleoperator

* set_from_wireless

* avoid double initializations

* refactor robot class

* fix pre-commit

* update docs

* update docs format

* add teleop instructions

* unitree_g1 specific exception in record/teleoperate

* add thumbnail to docs

* add thumbnail to doc

* refactor(unitree): multiple improvements (#3103)

* refactor(unitree): multiple improvements

* test(unitree): added tests + improved installation instructions

* refactor(robots): minor changes unitree robot kinematic

* chore(robots): rename g1 kinematics file

---------

Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>

pyproject.toml

@@ -119,11 +119,13 @@ 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 = [
+    "unitree-sdk2==1.0.1",
     "pyzmq>=26.2.1,<28.0.0",
     "onnxruntime>=1.16.0,<2.0.0",
     "pin>=3.0.0,<4.0.0",
     "meshcat>=0.3.0,<0.4.0",
     "lerobot[matplotlib-dep]",
+    "lerobot[pygame-dep]",
     "casadi>=3.6.0,<4.0.0",
 ]
 reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
@@ -206,6 +208,7 @@ all = [
     "lerobot[metaworld]",
     "lerobot[sarm]",
     "lerobot[peft]",
+    # "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
 ]
 
 [project.scripts]