fix(unitree_g1): correct SDK detection and update installation docs#3115
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Pull request overview
This pull request updates the Unitree G1 setup by adjusting the unitree_g1 optional dependency set and expanding the documentation steps to build/configure CycloneDDS as part of the Unitree SDK installation flow.
Changes:
- Remove the pinned
unitree-sdk2==1.0.1from theunitree_g1extra and add several new runtime dependencies (including MuJoCo). - Expand
docs/source/unitree_g1.mdxinstallation instructions to clone/build CycloneDDS and setCYCLONEDDS_HOMEbefore installingunitree_sdk2_python.
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 6 comments.
| File | Description |
|---|---|
pyproject.toml |
Adjusts the unitree_g1 optional dependency set (removes unitree-sdk2, adds MuJoCo/logging/serialization deps). |
docs/source/unitree_g1.mdx |
Updates Unitree G1 installation instructions to include CycloneDDS build/install steps. |
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Martino Russi <77496684+nepyope@users.noreply.github.com>
imstevenpmwork
approved these changes
Mar 9, 2026
imstevenpmwork
changed the title
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Type / Scope
Summary / Motivation
The Unitree G1 integration had a broken package detection check and incomplete/incorrect installation docs. The SDK availability check looked for
"unitree-sdk2"(the PyPI name) instead of"unitree-sdk2py"(the editable source install name), causingImportErrorat runtime. The docs also had missing dependencies, incorrect install ordering (WiFi after install), and no guidance for the G1's brokenpipon the Jetson Orin.What changed
src/lerobot/utils/import_utils.py: Ensure SDK is correctly detected when installed from source.pyproject.toml: Addedonnx>=1.16.0,<2.0.0tounitree_g1extra. Removedpin,casadi, and EnvHub deps (mujoco,loguru,msgpack,msgpack-numpy,scipy) — pinocchio must come from conda-forge, and sim env deps belong to the EnvHub, not lerobot.docs/source/unitree_g1.mdx: Refactor