Feat/g1 improvements record sim #2765
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robots
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tests
Signed-off-by: Martino Russi <[email protected]>
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This PR extends the integration of Unitree g1 with the LeRobot codebase. By converting robot state to a flat dict we can now record and replay episodes (example groot/holosoma scripts need to be adjusted as well). We also improve the simulation integration by calling .step @ _subscribe_motor_state instead of it running in a separate thread. We also add ZMQ camera to lerobot, streaming base64 images over json
TODO: imrpove docs, implement review critiques
gamepad should be 1 in sim