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Martino Russi
37f43df88a
* 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 --------- 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 --------- 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>