149628dfd5
add g1 teleoperation ( #2791 )
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* add gravity compensation
* add g1 teleoperation
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Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2026-01-28 15:17:38 +01:00
6b8d4c75a6
Feat/g1 improvements record sim ( #2765 )
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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
2026-01-12 17:31:39 +01:00
7e9d05a799
add holosoma locomotion ( #2669 )
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Add holosoma locomotion from Amazon-FAR
Add reset method to unitree_g1
Format actions as dict
Update docs
2026-01-07 16:05:31 +01:00
a6c3a0fa09
Feat/add mj env ( #2613 )
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* add sim support
* close fix threading issues
2025-12-15 16:22:27 +01:00
37f43df88a
Feat/add unitree g1 robot ( #2530 )
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* add unitree_g1_robot_class
* finish locomotion loading code
* precommit
* separate groot locomotion logic
* remove leftover locomotion variable, unify kp kd
* format config
* properly comment config, example locomotion and unitree_g1 class
* ready to review
* download policy from the hub in `examples/unitree_g1/gr00t_locomotion`
* fix linter
* make precommit happy, add ignore flags
* linter pt3
* linter pt4
* [done] make precommit happy
* fix linter 5
* add docs
* push utils
* feat(robots): add Unitree G1 humanoid support with ZMQ bridge (#2539 )
* feat(robots): add Unitree G1 humanoid support with ZMQ bridge
- Use JSON + base64 serialization for secure communication instead of pickle
- Add documentation section
- Rename robot_server to run_g1_server
- Add dependecies to pyproject.toml
* nit in docs
* remove globals use
* cast robot data to int/float
* ensure robot is connected before changing mode
* temperature can be list, average in such case
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Co-authored-by: Martino Russi <nopyeps@gmail.com >
* style nit
* remove transform_imu_data
* remove scipy dependency
* modify toml, add external unitree_sdk2py dep
* return actions from send_action
* cleaning
* add instructions for local deployment
* Update src/lerobot/robots/unitree_g1/unitree_g1.py
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
* update config and readme
* update docs
* update docs
* remove torch import
* fix docs
* remove ip from docs
* add licence header
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Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com >
2025-12-01 16:10:13 +01:00
Martino Russi