add custom teleoperator, integrate unitree g1 except for eval

src/lerobot/cameras/zmq/camera_zmq.py

@@ -442,7 +442,7 @@ class ZMQCamera(Camera):
         self.thread = None
         self.stop_event = None
 
-    def async_read(self, timeout_ms: float = 200) -> NDArray[Any]:
+    def async_read(self, timeout_ms: float = 2000) -> NDArray[Any]:
         """
         Reads the latest available frame asynchronously.
 
@@ -452,7 +452,7 @@ class ZMQCamera(Camera):
 
         Args:
             timeout_ms: Maximum time in milliseconds to wait for a frame
-                to become available. Defaults to 200ms.
+                to become available. Defaults to 2000ms.
 
         Returns:
             np.ndarray: The latest captured frame as a NumPy array in the format

src/lerobot/cameras/zmq/configuration_zmq.py

@@ -65,7 +65,7 @@ class ZMQCameraConfig(CameraConfig):
     port: int = 5554
     camera_name: str = "zmq_camera"
     color_mode: ColorMode = ColorMode.RGB
-    timeout_ms: int = 1000
+    timeout_ms: int = 5000
 
     def __post_init__(self) -> None:
         if self.color_mode not in (ColorMode.RGB, ColorMode.BGR):

src/lerobot/robots/unitree_g1/config_hope_jr.py

@@ -1,35 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass, field
-
-from lerobot.cameras import CameraConfig
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("hope_jr_arm")
-@dataclass
-class HopeJrArmConfig(RobotConfig):
-    port: str  # Port to connect to the hand
-    disable_torque_on_disconnect: bool = True
-
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
-
-    cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -26,7 +26,7 @@ from ..config import RobotConfig
 class UnitreeG1Config(RobotConfig):
    # id: str = "unitree_g1"
     motion_mode: bool = False
-    simulation_mode: bool = False
+    simulation_mode: bool = True
     kp_high = 40.0
     kd_high = 3.0
     kp_low = 80.0
@@ -45,8 +45,10 @@ class UnitreeG1Config(RobotConfig):
     gradual_start_time = None
     gradual_time = None
 
+    audio_client = True
+
     freeze_body = False
 
-    gravity_compensation = True
+    gravity_compensation = False
 
     cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/unitree_g1/eval_robot/assets/brainco_hand/brainco.yml

@@ -1,61 +0,0 @@
-left:
-  type: DexPilot # or vector
-  urdf_path: brainco_hand/brainco_left.urdf
-
-  # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: 
-    [
-      "left_thumb_metacarpal_joint",
-      "left_thumb_proximal_joint",
-      "left_index_proximal_joint",
-      "left_middle_proximal_joint",
-      "left_ring_proximal_joint",
-      "left_pinky_proximal_joint",
-    ]
-
-  # for DexPilot type
-  wrist_link_name: "base_link"
-  finger_tip_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
-  # If you do not know exactly how it is used, please leave it to None for default.
-  target_link_human_indices_dexpilot: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
-
-  # for vector type
-  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
-  target_task_link_names: [ "left_thumb_tip",  "left_index_tip", "left_middle_tip", "left_ring_tip", "left_pinky_tip" ]
-  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
-
-  # Scaling factor for vector retargeting only
-  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
-  scaling_factor: 0.90
-  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
-  low_pass_alpha: 0.2
-
-right:
-  type: DexPilot # or vector
-  urdf_path: brainco_hand/brainco_right.urdf
-
-  # Target refers to the retargeting target, which is the robot hand
-  target_joint_names: 
-    [
-      "right_thumb_metacarpal_joint",
-      "right_thumb_proximal_joint",
-      "right_index_proximal_joint",
-      "right_middle_proximal_joint",
-      "right_ring_proximal_joint",
-      "right_pinky_proximal_joint",
-    ]
-  # for DexPilot type
-  wrist_link_name: "base_link"
-  finger_tip_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
-  target_link_human_indices_dexpilot: [[ 9, 14, 19, 24, 14, 19, 24, 19, 24, 24,  0,  0,  0,  0,  0], [ 4,  4,  4,  4,  9, 9,  9, 14, 14, 19,  4,  9, 14, 19, 24]]
-  
-  # for vector type
-  target_origin_link_names: ["base_link", "base_link", "base_link", "base_link", "base_link"]
-  target_task_link_names: [ "right_thumb_tip",  "right_index_tip", "right_middle_tip", "right_ring_tip", "right_pinky_tip" ]
-  target_link_human_indices_vector: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
-
-  # Scaling factor for vector retargeting only
-  # For example, Allegro is 1.6 times larger than normal human hand, then this scaling factor should be 1.6
-  scaling_factor: 0.90
-  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
-  low_pass_alpha: 0.2

src/lerobot/robots/unitree_g1/eval_robot/assets/g1/.gitignore

@@ -1,2 +0,0 @@
-*.gv
-*.pdf

src/lerobot/robots/unitree_g1/eval_robot/assets/g1/README.md

@@ -1,33 +0,0 @@
-# Unitree G1 Description (URDF & MJCF)
-
-## Overview
-
-This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
-
-MJCF/URDF for the G1 robot:
-
-| MJCF/URDF file name           | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
-| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
-| `g1_23dof`                    |       1        |           14.5           | Beta          |   6*2   |     1     |   5*2   |    0     |
-| `g1_29dof`                    |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |    0     |
-| `g1_29dof_with_hand`          |       2        |           14.5           | Beta          |   6*2   |     3     |   7*2   |   7*2    |
-| `g1_29dof_lock_waist`         |       3        |           14.5           | Beta          |   6*2   |     1     |   7*2   |    0     |
-| `g1_23dof_rev_1_0`            |       4        |           22.5           | Up-to-date    |   6*2   |     1     |   5*2   |    0     |
-| `g1_29dof_rev_1_0`            |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |    0     |
-| `g1_29dof_with_hand_rev_1_0`  |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |   7*2    |
-| `g1_29dof_lock_waist_rev_1_0` |       6        |           22.5           | Up-to-date    |   6*2   |     1     |   7*2   |    0     |
-| `g1_dual_arm`                 |       9        |           null           | Up-to-date    |    0    |     0     |   7*2   |    0     |
-
-## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
-
-1. Open MuJoCo Viewer
-
-   ```bash
-   pip install mujoco
-   python -m mujoco.viewer
-   ```
-
-2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
-
-## Note for teleoperate
-g1_body29_hand14 is modified from [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf)