lerobot

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Martino Russi 943ae78cfe feat(unitree_g1): standalone PICO SMPL publisher + dedup/replay fixes

Add a self-contained rt/smpl publisher in the pico_headset teleoperator
(pico_publisher.py + numpy SMPL FK in smpl_fk.py + vendored skeleton table)
so headset whole-body teleop no longer depends on gear_sonic/torch; only
xrobotoolkit_sdk is needed at the headset.

Also: share lowstate_to_obs/get_gravity_orientation via g1_utils (dedup
sonic_pipeline and UnitreeG1.get_observation), and fix dataset-replay joint
ordering (Unitree -> IsaacLab) for sonic.py --replay-dataset.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-07-09 19:13:22 +02:00

annotations

feat: language annotation pipeline (#3471 )

2026-06-12 15:12:33 +02:00

backward_compatibility

feat(dependencies): minimal default tag install (#3362 )

2026-04-12 20:03:04 +02:00

dataset

refactor: support custom progress parquet overlays (#3640 )

2026-05-21 14:32:10 +02:00

isaac_teleop_to_so101

feat(examples): add Isaac Teleop → SO-101 teleoperation and dataset recording example (#3927 )