Pepijn ff94e6385b Add Unitree Go2 robot + spatial-memory navigation base ...

unitree_go2 robot: high-level sport-mode body-velocity control over DDS
(unitree_sdk2py) straight from the host — no companion computer, unlike
the G1's low-level ZMQ bridge. Actions x.vel/y.vel/theta.vel; observation
is planar odometry (rt/sportmodestate) + the built-in front camera via
VideoClient. SDK imported only in connect() so configs/features/tests
work without it; 20 tests via mocks. unitree_go2 pyproject extra.

lerobot.navigation package: BaseController protocol + StubBaseController +
SafeBaseController (velocity clamp, occupancy gate, keyframe watchdog,
e-stop latch) + RobotBaseController wrapping any Robot on the standard
REP-103 mobile-base contract, carrying the world<->body velocity and
odometry<->world pose frame math. Robot-agnostic: the SDK lives only in
the robot class. 29 tests, SDK/torch-free.

First step of consolidating the dyna360 DynaMem navigation stack into
lerobot; dyna360 is a source to copy from, not a runtime dependency.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

2026-07-20 17:50:44 +02:00

..

test_reachy2.py

feat(robots): use read_latest() camera (#2987)

2026-02-18 20:05:15 +01:00

test_rebot_b601_follower.py

Feat(robot): add MIT control mode to ReBot (#3778)

2026-06-30 17:17:50 +02:00

test_so100_follower.py

feat(robots): consolidates bi SO setups (#2780)

2026-01-12 16:01:22 +01:00

test_unitree_g1.py

feat(robots): Unitree G1 WBC implementation (#2876)

2026-03-08 11:33:24 +01:00

test_unitree_go2.py

Add Unitree Go2 robot + spatial-memory navigation base

2026-07-20 17:50:44 +02:00