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Add Unitree Go2 robot + spatial-memory navigation base

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unitree_go2 robot: high-level sport-mode body-velocity control over DDS
(unitree_sdk2py) straight from the host — no companion computer, unlike
the G1's low-level ZMQ bridge. Actions x.vel/y.vel/theta.vel; observation
is planar odometry (rt/sportmodestate) + the built-in front camera via
VideoClient. SDK imported only in connect() so configs/features/tests
work without it; 20 tests via mocks. unitree_go2 pyproject extra.

lerobot.navigation package: BaseController protocol + StubBaseController +
SafeBaseController (velocity clamp, occupancy gate, keyframe watchdog,
e-stop latch) + RobotBaseController wrapping any Robot on the standard
REP-103 mobile-base contract, carrying the world<->body velocity and
odometry<->world pose frame math. Robot-agnostic: the SDK lives only in
the robot class. 29 tests, SDK/torch-free.

First step of consolidating the dyna360 DynaMem navigation stack into
lerobot; dyna360 is a source to copy from, not a runtime dependency.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-07-20 17:45:41 +02:00
parent ddc2aa7a27
commit ff94e6385b
9 changed files with 1355 additions and 0 deletions
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pyproject.toml
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@@ -187,6 +187,11 @@ unitree_g1 = [
"lerobot[matplotlib-dep]",
"lerobot[pygame-dep]",
]
# Go2 talks plain DDS from the host — no bridge server, no extra deps beyond
# the SDK itself (cyclonedds-based, hence Linux-only).
unitree_go2 = [
"unitree_sdk2py>=1.0.1; sys_platform == 'linux'",
]
# reachy2-sdk caps grpcio<=1.73.1 and protobuf<=6.32.0; quarantined here so downstream users aren't held back. reachy2-sdk is unlikely to release new versions.
reachy2 = [
"reachy2_sdk>=1.0.15,<1.1.0",