Feat/g1 improvements record sim (#2765)

This PR extends the integration of Unitree g1 with the LeRobot codebase. By converting robot state to a flat dict we can now record and replay episodes (example groot/holosoma scripts need to be adjusted as well). We also improve the simulation integration by calling .step @ _subscribe_motor_state instead of it running in a separate thread. We also add ZMQ camera to lerobot, streaming base64 images over json

src/lerobot/scripts/lerobot_record.py

@@ -74,6 +74,7 @@ from lerobot.cameras import (  # noqa: F401
 )
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.datasets.image_writer import safe_stop_image_writer
@@ -103,6 +104,7 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     omx_follower,
     so_follower,
+    unitree_g1,
 )
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
@@ -508,6 +510,11 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
                     (recorded_episodes < cfg.dataset.num_episodes - 1) or events["rerecord_episode"]
                 ):
                     log_say("Reset the environment", cfg.play_sounds)
+
+                    # reset g1 robot
+                    if robot.name == "unitree_g1":
+                        robot.reset()
+
                     record_loop(
                         robot=robot,
                         events=events,