chore(deps-dev): bump protobuf in the pip group across 1 directory

Bumps the pip group with 1 update in the / directory: [protobuf](https://github.com/protocolbuffers/protobuf).


Updates `protobuf` from 6.31.0 to 6.33.5
- [Release notes](https://github.com/protocolbuffers/protobuf/releases)
- [Commits](https://github.com/protocolbuffers/protobuf/commits)

---
updated-dependencies:
- dependency-name: protobuf
  dependency-version: 6.33.5
  dependency-type: direct:development
  dependency-group: pip
...

Signed-off-by: dependabot[bot] <support@github.com>

docs/source/il_robots.mdx

@@ -165,7 +165,7 @@ hf auth login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 Then store your Hugging Face repository name in a variable:
 
 ```bash
-HF_USER=$(NO_COLOR=1 hf auth whoami | awk -F': *' 'NR==1 {print $2}')
+HF_USER=$(hf auth whoami | awk -F': *' 'NR==1 {print $2}')
 echo $HF_USER
 ```
 

docs/source/unitree_g1.mdx

@@ -12,59 +12,36 @@ The Unitree G1 humanoid is now supported in LeRobot! You can teleoperate, train
 
 ## Part 1: Getting Started
 
-### Install the Unitree SDK
-
-Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation). Tested with `unitree_sdk2py==1.0.1` and `cyclonedds==0.10.2`:
+### Install LeRobot on Your Machine
 
 ```bash
 conda create -y -n lerobot python=3.12
 conda activate lerobot
 git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python
-pip install -e .
-cd ..
-```
-
-### Install LeRobot
-
-```bash
-conda install ffmpeg -c conda-forge
-conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
+cd unitree_sdk2_python && pip install -e .
 git clone https://github.com/huggingface/lerobot.git
 cd lerobot
 pip install -e '.[unitree_g1]'
 ```
 
-<Tip>
-  For now, pinocchio must be installed from conda-forge (not pip) to include the
-  CasADi bindings needed for arm IK.
-</Tip>
-
 ### Test the Installation (Simulation)
 
-The simulation environment has its own dependencies. Check the Simulation environment dependencies: [Unitree G1 Mujoco EnvHub](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main).
-
-```bash
-pip install mujoco loguru msgpack msgpack-numpy
-```
-
 ```bash
 lerobot-teleoperate \
   --robot.type=unitree_g1 \
   --robot.is_simulation=true \
   --teleop.type=unitree_g1 \
   --teleop.id=wbc_unitree \
-  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30, "warmup_s": 5}}' \
-  --display_data=true \
-  --robot.controller=GrootLocomotionController
+  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
+  --display_data=true
 ```
 
-This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1. You can connect a gamepad to your machine before launching in order to control the robot's locomotion in sim. We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) via `--robot.controller`.
+This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1.
 
 - Press `9` to release the robot
 - Press `7` / `8` to increase / decrease waist height
 
-### Connect to the Physical Robot
+### Connect to the Robot
 
 The G1's Ethernet IP is fixed at `192.168.123.164`. Your machine must have a static IP on the same subnet: `192.168.123.x` where `x ≠ 164`.
 
@@ -82,11 +59,37 @@ ssh unitree@192.168.123.164
 # Password: 123
 ```
 
-### Share Internet via Ethernet
+### Install LeRobot on the G1
 
-The G1 needs internet access to clone repos and install packages. Share your laptop's connection over Ethernet:
+From the robot:
 
-**On your laptop:**
+```bash
+conda create -y -n lerobot python=3.12
+conda activate lerobot
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python && pip install -e .
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+pip install -e '.[unitree_g1]'
+```
+
+> **Note:** The Unitree SDK requires CycloneDDS v0.10.2. See the [Unitree SDK docs](https://github.com/unitreerobotics/unitree_sdk2_python) for details.
+
+---
+
+## Part 2: Enable WiFi on the Robot
+
+Wi-Fi connectivity is blocked by default on the G1. To activate:
+
+```bash
+sudo rfkill unblock all
+sudo ip link set wlan0 up
+sudo nmcli radio wifi on
+sudo nmcli device set wlan0 managed yes
+sudo systemctl restart NetworkManager
+```
+
+**On your laptop** (share internet via Ethernet):
 
 ```bash
 sudo sysctl -w net.ipv4.ip_forward=1
@@ -97,7 +100,7 @@ sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTA
 sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
 ```
 
-**On the G1:**
+**On the G1** (set default route through your laptop):
 
 ```bash
 sudo ip route del default 2>/dev/null || true
@@ -108,45 +111,6 @@ echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
 ping -c 3 8.8.8.8
 ```
 
-### Install the Unitree SDK on the G1
-
-Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation):
-
-```bash
-conda create -y -n lerobot python=3.12
-conda activate lerobot
-git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python
-python -m pip install -e .
-cd ..
-```
-
-### Install LeRobot on the G1
-
-```bash
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
-python -m pip install -e '.[unitree_g1]'
-```
-
-<Tip>
-  For now, pinocchio must be installed from conda-forge (not pip) to include the
-  CasADi bindings needed for arm IK.
-</Tip>
-
-### (Optional) Enable WiFi on the Robot
-
-For wireless SSH access, you can enable WiFi on the G1 (it's blocked by default):
-
-```bash
-sudo rfkill unblock all
-sudo ip link set wlan0 up
-sudo nmcli radio wifi on
-sudo nmcli device set wlan0 managed yes
-sudo systemctl restart NetworkManager
-```
-
 **Connect to a WiFi network:**
 
 ```bash
@@ -161,7 +125,7 @@ sudo nmcli connection up "YourNetwork"
 ip a show wlan0
 ```
 
-You can then SSH over WiFi instead of Ethernet:
+You can now SSH over WiFi:
 
 ```bash
 ssh unitree@<ROBOT_WIFI_IP>
@@ -170,23 +134,18 @@ ssh unitree@<ROBOT_WIFI_IP>
 
 ---
 
-## Part 2: Teleoperation & Locomotion
+## Part 3: Teleoperation & Locomotion
 
 ### Run the Robot Server
 
-On the robot (from `~/lerobot`):
+On the robot:
 
 ```bash
-cd ~/lerobot
 python src/lerobot/robots/unitree_g1/run_g1_server.py --camera
 ```
 
 ### Run the Locomotion Policy
 
-You can run the teleoperation client from your laptop over Ethernet, over WiFi (experimental), or directly on the robot itself. Mind potential latency introduced by your network.
-
-**From your laptop:**
-
 ```bash
 lerobot-teleoperate \
   --robot.type=unitree_g1 \
@@ -199,13 +158,13 @@ lerobot-teleoperate \
   --robot.controller=HolosomaLocomotionController
 ```
 
-We support both [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) and [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) via `--robot.controller`.
+We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl).
 
 ---
 
-## Part 3: Loco-Manipulation with the Homunculus Exoskeleton
+## Part 4: Loco-Manipulation with the Homunculus Exoskeleton
 
-We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Check it out [here](https://github.com/nepyope/hmc_exo).
+We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Assembly instructions [here](https://github.com/nepyope/hmc_exo).
 
 ### Calibrate
 
@@ -246,7 +205,7 @@ Example dataset: [nepyope/unitree_box_move_blue_full](https://huggingface.co/dat
 
 ---
 
-## Part 4: Training & Inference
+## Part 5: Training & Inference
 
 ### Train
 

pyproject.toml

@@ -25,7 +25,7 @@ discord = "https://discord.gg/s3KuuzsPFb"
 
 [project]
 name = "lerobot"
-version = "0.5.1"
+version = "0.4.5"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 dynamic = ["readme"]
 license = { text = "Apache-2.0" }
@@ -76,7 +76,7 @@ dependencies = [
     "torchvision>=0.21.0,<0.26.0",
 
     "einops>=0.8.0,<0.9.0",
-    "opencv-python-headless>=4.9.0,<4.14.0",
+    "opencv-python-headless>=4.9.0,<4.13.0",
     "av>=15.0.0,<16.0.0",
     "jsonlines>=4.0.0,<5.0.0",
     "pynput>=1.7.8,<1.9.0",
@@ -100,7 +100,7 @@ dependencies = [
 pygame-dep = ["pygame>=2.5.1,<2.7.0"]
 placo-dep = ["placo>=0.9.6,<0.9.17"]
 transformers-dep = ["transformers>=5.3.0,<6.0.0"]
-grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
+grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.34.0"]
 can-dep = ["python-can>=4.2.0,<5.0.0"]
 peft-dep = ["peft>=0.18.0,<1.0.0"]
 scipy-dep = ["scipy>=1.14.0,<2.0.0"]
@@ -119,13 +119,14 @@ gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
 unitree_g1 = [
-    # "unitree-sdk2==1.0.1",
+    "unitree-sdk2==1.0.1",
     "pyzmq>=26.2.1,<28.0.0",
     "onnxruntime>=1.16.0,<2.0.0",
-    "onnx>=1.16.0,<2.0.0",
+    "pin>=3.0.0,<4.0.0",
     "meshcat>=0.3.0,<0.4.0",
     "lerobot[matplotlib-dep]",
     "lerobot[pygame-dep]",
+    "casadi>=3.6.0,<4.0.0",
 ]
 reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
 kinematics = ["lerobot[placo-dep]"]

src/lerobot/datasets/utils.py

@@ -578,7 +578,7 @@ def get_hf_features_from_features(features: dict) -> datasets.Features:
             continue
         elif ft["dtype"] == "image":
             hf_features[key] = datasets.Image()
-        elif ft["shape"] == (1,) and ft["names"] is None:
+        elif ft["shape"] == (1,):
             hf_features[key] = datasets.Value(dtype=ft["dtype"])
         elif len(ft["shape"]) == 1:
             hf_features[key] = datasets.Sequence(

src/lerobot/datasets/v30/convert_dataset_v21_to_v30.py

@@ -57,7 +57,6 @@ import pyarrow as pa
 import tqdm
 from datasets import Dataset, Features, Image
 from huggingface_hub import HfApi, snapshot_download
-from huggingface_hub.errors import RevisionNotFoundError
 from requests import HTTPError
 
 from lerobot.datasets.compute_stats import aggregate_stats
@@ -512,7 +511,7 @@ def convert_dataset(
         hub_api = HfApi()
         try:
             hub_api.delete_tag(repo_id, tag=CODEBASE_VERSION, repo_type="dataset")
-        except(HTTPError,RevisionNotFoundError) as e:
+        except HTTPError as e:
             print(f"tag={CODEBASE_VERSION} probably doesn't exist. Skipping exception ({e})")
             pass
         hub_api.delete_files(

src/lerobot/utils/import_utils.py

@@ -74,7 +74,7 @@ _peft_available = is_package_available("peft")
 _scipy_available = is_package_available("scipy")
 _reachy2_sdk_available = is_package_available("reachy2_sdk")
 _can_available = is_package_available("python-can", "can")
-_unitree_sdk_available = is_package_available("unitree-sdk2py", "unitree_sdk2py")
+_unitree_sdk_available = is_package_available("unitree-sdk2", "unitree_sdk2py")
 _pygame_available = is_package_available("pygame")