 Martino Russi
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4f2ef024d8
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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
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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>
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2026-03-08 11:33:24 +01:00 |
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