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feat(unitree_g1): standalone PICO SMPL publisher + dedup/replay fixes

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Add a self-contained rt/smpl publisher in the pico_headset teleoperator
(pico_publisher.py + numpy SMPL FK in smpl_fk.py + vendored skeleton table)
so headset whole-body teleop no longer depends on gear_sonic/torch; only
xrobotoolkit_sdk is needed at the headset.

Also: share lowstate_to_obs/get_gravity_orientation via g1_utils (dedup
sonic_pipeline and UnitreeG1.get_observation), and fix dataset-replay joint
ordering (Unitree -> IsaacLab) for sonic.py --replay-dataset.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-09 19:06:37 +02:00
parent 3363688f1e
commit 943ae78cfe
13 changed files with 798 additions and 86 deletions
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pyproject.toml
+5 -1
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@@ -374,7 +374,11 @@ torch = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
torchvision = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
[tool.setuptools.package-data]
lerobot = ["envs/*.json", "annotations/steerable_pipeline/prompts/*.txt"]
lerobot = [
"envs/*.json",
"annotations/steerable_pipeline/prompts/*.txt",
"teleoperators/pico_headset/assets/*.npz",
]
[tool.setuptools.packages.find]
where = ["src"]