 Martino Russi
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37f43df88a
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Feat/add unitree g1 robot (#2530)
* 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>
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2025-12-01 16:10:13 +01:00 |
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