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Fork Workflow

How Binabik manages our fork of unitree_lerobot.

Branch structure

  • main — Clean mirror of upstream/main. Never commit directly.
  • binabik/main — Our long-lived working branch. Default branch on the fork.
  • upstream/<name> — Short-lived branches for fixes/features intended for upstream PRs. Branch from main.
  • binabik/<name> — Short-lived branches for internal-only work. Branch from binabik/main.

Remotes

origin    → github.com/binabik/unitree_lerobot     (our fork)
upstream  → github.com/unitreerobotics/unitree_lerobot

One-time setup

git clone git@github.com:binabik/unitree_lerobot.git
cd unitree_lerobot

git remote add upstream https://github.com/unitreerobotics/unitree_lerobot.git
git remote set-url --push upstream DISABLED   # prevent accidental pushes upstream

git fetch upstream
git checkout main
git merge --ff-only upstream/main

git checkout -b binabik/main
git push -u origin binabik/main

On GitHub: Settings → Branches → set binabik/main as default.

Workflow: internal feature

git checkout binabik/main
git pull
git checkout -b binabik/add-custom-gripper-support
# ...work, commit, push...
git push -u origin binabik/add-custom-gripper-support

Open PR: binabik/add-custom-gripper-support → binabik/main.

Workflow: upstream-bound fix

Branch from main, not binabik/main — this keeps the change free of internal code.

git fetch upstream
git checkout main
git merge --ff-only upstream/main

git checkout -b upstream/fix-dataset-loader-race
# ...fix, commit, push...
git push -u origin upstream/fix-dataset-loader-race

Open two PRs from the same branch:

  1. upstream/fix-dataset-loader-race → unitreerobotics:main (upstream PR)
  2. upstream/fix-dataset-loader-race → binabik:binabik/main (so we use the fix now without waiting)

Weekly upstream sync

# Update main from upstream
git fetch upstream
git checkout main
git merge --ff-only upstream/main
git push origin main

# Bring upstream changes into binabik/main via a PR
git checkout -b chore/sync-upstream-$(date +%Y-%m-%d)
git merge main
# ...resolve conflicts, commit...
git push -u origin chore/sync-upstream-$(date +%Y-%m-%d)

Open PR → binabik/main. Never push merge commits straight to binabik/main.

Releases

git checkout binabik/main
git pull
git tag -a binabik-v1.0.0 -m "Internal release 1.0.0"
git push origin binabik-v1.0.0

Optional: git aliases

Add to ~/.gitconfig:

[alias]
    sync-upstream = !git fetch upstream && git checkout main && git merge --ff-only upstream/main && git push origin main
    new-upstream-fix = !f() { git fetch upstream && git checkout main && git merge --ff-only upstream/main && git checkout -b upstream/$1; }; f
    new-binabik-feat = !f() { git checkout binabik/main && git pull && git checkout -b binabik/$1; }; f

Rules of thumb

  • Upstream-bound branches contain no Binabik-specific code. Ever.
  • Long-lived branches (main, binabik/main) get changes via PR, not direct push.
  • Use merge (not rebase) for long-lived branches; rebase is fine on short-lived feature branches before merging.
  • Prefer adding new files / extension points over modifying upstream files — reduces merge conflicts.
  • unitree_lerobot is Apache 2.0 (built on Hugging Face lerobot). Check NOTICE and attribution requirements before distributing anything derived from it.