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huggingface / lerobot Public

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Feat/g1 improvements record sim#2765

Merged

nepyope merged 52 commits intomainhuggingface/lerobot:mainfrom

feat/g1_improvements_record_simhuggingface/lerobot:feat/g1_improvements_record_simCopy head branch name to clipboard

Jan 12, 2026

Conversation Commits52 (52)Checks Files changed

Merged

Feat/g1 improvements record sim#2765
nepyope merged 52 commits intomainfrom
feat/g1_improvements_record_sim

Commits

Commits on Jan 7, 2026

add support for step simulation
nepyope
committed
convert obs to dict
nepyope
committed
modify holosoma/groot to support dict obs, fix send_actions
nepyope
committed
pre-commit
nepyope
committed

Commits on Jan 8, 2026

begin zmq camera integration, shared protocol between mujoco g1 and lekiwi
nepyope
committed
integrate zmq from real and sim robot
nepyope
committed
add g1 to replay
nepyope
committed
removeg129 magic number
nepyope
committed
removeg129 magic number
nepyope
committed
remove leftover magic variable
nepyope
committed
update config defaults
nepyope
committed
remove references to realsense
nepyope
committed
pre-commit
nepyope
committed

Commits on Jan 9, 2026

reset env between episodes
nepyope
committed
perform controller logic inside of g1
nepyope
committed
fix sim reset
nepyope
committed
connect robot outside of init
nepyope
committed
Merge branch 'main' into feat/g1_improvements_record_sim
nepyope
authored
merge conflicts g1/so arm
nepyope
committed
use lerobot opencv camera
nepyope
committed
fix bgr conversion
nepyope
committed
revert test defaults
nepyope
committed
fix comments for locomotion policies
nepyope
committed
fix exception chaining
nepyope
committed
fix typing
nepyope
committed
simplify test_camera_class
nepyope
committed

Commits on Jan 12, 2026

update docs
nepyope
committed
fix ruff
nepyope
committed
Merge branch 'main' into feat/g1_improvements_record_sim
michel-aractingi
authored
add unitree_g1 specific clauses, merge reset_simulation and reset
nepyope
committed
remove while trues from examples
nepyope
committed
simplify sim code
nepyope
committed
move reset logic to sim, remove mujoco import
nepyope
committed
set positions directly for sim
nepyope
committed
remove zmq camera test
nepyope
committed
add header
nepyope
committed
2026
nepyope
committed
Merge branch 'main' into feat/g1_improvements_record_sim
nepyope
authored
remove comment
nepyope
committed
Merge branch 'main' into feat/g1_improvements_record_sim
nepyope
authored
remove comment from camera
nepyope
committed
remove autoplay feature from g1
nepyope
committed
remove camera sleep
nepyope
committed
remove record/replay from docs
nepyope
committed
add zmq to camera utils
nepyope
committed
remove color mode
nepyope
committed
Update src/lerobot/cameras/zmq/__init__.py

nepyope
and
michel-aractingi
authored
replace print with logging
nepyope
committed
re add color mode since it's required by base camera class
nepyope
committed
fix zmq imports for pytest
nepyope
committed
Merge branch 'main' into feat/g1_improvements_record_sim
nepyope
authored
fix unitree_sdk dependency for pytest
nepyope
committed

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