refactor(unitree_g1): drop make_ort_session_options from SONIC branch

The ORT SessionOptions helper (thread-pool cap) is being split into its own
"ORT fix" PR. SONIC only needs quiet logs, so inline a minimal SessionOptions in
the decoder instead of depending on the shared helper.

src/lerobot/robots/unitree_g1/controllers/sonic_whole_body.py

@@ -45,7 +45,6 @@ from ..g1_utils import (
     compute_pd_gains,
     get_gravity_orientation,
     lowstate_to_obs,
-    make_ort_session_options,
 )
 
 logger = logging.getLogger(__name__)
@@ -296,7 +295,8 @@ class SonicRuntime:
     def __init__(self):
         decoder_path = hf_hub_download(repo_id="nvidia/GEAR-SONIC", filename="model_decoder.onnx")
 
-        so = make_ort_session_options()
+        so = ort.SessionOptions()
+        so.log_severity_level = 3  # quiet ORT logs
         decoder_sess = ort.InferenceSession(decoder_path, sess_options=so)
 
         self.kp, self.kd = compute_kp_kd()

src/lerobot/robots/unitree_g1/g1_utils.py

@@ -143,24 +143,6 @@ def compute_pd_gains(motor_models, double_indices=()) -> tuple[np.ndarray, np.nd
     return kp, kd
 
 
-def make_ort_session_options(intra_op_num_threads: int | None = None, inter_op_num_threads: int | None = None):
-    """Build quiet ONNX Runtime SessionOptions, optionally capping the CPU thread pool.
-
-    These tiny MLP policies are latency-bound, not throughput-bound, so letting ORT grab
-    every core starves the real-time control loop / torch policy and causes stutter. Pass
-    1 intra + 1 inter thread for lowest-latency per-step inference.
-    """
-    import onnxruntime as ort
-
-    so = ort.SessionOptions()
-    so.log_severity_level = 3
-    if intra_op_num_threads is not None:
-        so.intra_op_num_threads = intra_op_num_threads
-    if inter_op_num_threads is not None:
-        so.inter_op_num_threads = inter_op_num_threads
-    return so
-
-
 class G1_29_JointArmIndex(IntEnum):
     # Left arm
     kLeftShoulderPitch = 15