Martino Russi 37f43df88a Feat/add unitree g1 robot (#2530) ...

* 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>

2025-12-01 16:10:13 +01:00

..

_toctree.yml

Feat/add unitree g1 robot (#2530)

2025-12-01 16:10:13 +01:00

act.mdx

Add act documentation (#2139)

2025-10-08 20:07:14 +02:00

async.mdx

fix(examples): wrap all of them into a main function (#2524)

2025-11-26 14:28:04 +01:00

backwardcomp.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

cameras.mdx

chore(docs): prioritize use of entry points in docs + fix nightly badge (#1692)

2025-08-07 14:25:44 +02:00

contributing.md

Hardware API redesign (#777)

2025-06-05 17:48:43 +02:00

debug_processor_pipeline.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

env_processor.mdx

feat(envs): add envs pre-post processor (#2474)

2025-11-19 18:36:14 +01:00

envhub_leisaac.mdx

feat(utils): precise_sleep() less CPU hungry without sacrificing accuracy (#2526)

2025-11-26 17:42:16 +01:00

envhub.mdx

feat(sim): EnvHub - allow loading envs from the hub (#2121)

2025-11-04 14:52:46 +01:00

feetech.mdx

Add feetech firmware update docs (#1793)

2025-08-28 11:18:54 +02:00

groot.mdx

docs(install): imrpove groot and libero installation instructions (#2314)

2025-10-26 15:37:41 +08:00

hilserl_sim.mdx

chore(rl): move rl related code to its directory at top level (#2002)

2025-09-23 16:32:34 +02:00

hilserl.mdx

chore: remove unused code (#2062)

2025-09-29 10:49:36 +02:00

hope_jr.mdx

chore(docs): prioritize use of entry points in docs + fix nightly badge (#1692)

2025-08-07 14:25:44 +02:00

il_robots.mdx

feat(utils): precise_sleep() less CPU hungry without sacrificing accuracy (#2526)

2025-11-26 17:42:16 +01:00

implement_your_own_processor.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

index.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

installation.mdx

chore(installation): remove libero installation patch (#2416)

2025-11-10 11:51:52 +01:00

integrate_hardware.mdx

fix(docs): markdown formatting in integrate_hardware.mdx (#2232)

2025-10-17 16:33:46 +02:00

introduction_processors.mdx

fic(docs): local docs links (#2149)

2025-10-09 15:20:07 +02:00

koch.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

lekiwi.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

lerobot-dataset-v3.mdx

Add missing finalize calls in example (#2175)

2025-10-11 21:15:43 +02:00

libero.mdx

chore(installation): remove libero installation patch (#2416)

2025-11-10 11:51:52 +01:00

metaworld.mdx

feat(sim): add metaworld env (#2088)

2025-10-14 17:21:18 +02:00

multi_gpu_training.mdx

feat(train): add accelerate for multi gpu training (#2154)

2025-10-16 17:41:55 +02:00

notebooks.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

phone_teleop.mdx

fic(docs): local docs links (#2149)

2025-10-09 15:20:07 +02:00

pi0.mdx

docs(install): imrpove groot and libero installation instructions (#2314)

2025-10-26 15:37:41 +08:00

pi05.mdx

docs(install): imrpove groot and libero installation instructions (#2314)

2025-10-26 15:37:41 +08:00

policy_act_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_diffusion_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_groot_README.md

feat(policies): add Nvidia Gr00t N1.5 model (#2292)

2025-10-23 13:50:30 +02:00

policy_smolvla_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_tdmpc_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_vqbet_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

porting_datasets_v3.mdx

Dataset v3 (#1412)

2025-09-15 09:53:30 +02:00

processors_robots_teleop.mdx

chore: remove unused code (#2062)

2025-09-29 10:49:36 +02:00

reachy2.mdx

2 add reachy 2 to updated lerobot (#1767)

2025-09-05 11:03:14 +02:00

rtc.mdx

[RTC] Real Time Chunking for Pi0, Smolvla, Pi0.5 (#1698)

2025-11-19 11:19:48 +01:00

smolvla.mdx

Add OpenPi, Pi0 and Pi0.5 (#1910)

2025-10-02 13:14:45 +02:00

so100.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

so101.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

unitree_g1.mdx

Feat/add unitree g1 robot (#2530)

2025-12-01 16:10:13 +01:00

using_dataset_tools.mdx

Dataset tools (#2100)

2025-10-10 12:32:07 +02:00