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refactor(unitree_g1): minimize diff vs main (drop onnx guards, e-stop)

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Revert pyproject.toml and import_utils.py to main: the onnxruntime-gpu
detection fallback and the _onnxruntime_available/_onnx_available flags
are unnecessary. Controllers now import onnx/onnxruntime unconditionally
(matching main) which also works with onnxruntime-gpu since the import
name is stable. Drop the require_package() calls we had added.

Remove the stdin e-stop listener from serve_onboard_controller and the
now-unused os/sys imports; Ctrl-C still triggers graceful shutdown.
This commit is contained in:
Martino Russi
2026-07-29 16:11:55 +02:00
parent 6d24f20eb4
commit 503f3e57ae
7 changed files with 9 additions and 70 deletions
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pyproject.toml
+1 -5
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@@ -374,11 +374,7 @@ torch = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
torchvision = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
[tool.setuptools.package-data]
lerobot = [
"envs/*.json",
"annotations/steerable_pipeline/prompts/*.txt",
"teleoperators/pico_headset/assets/*.npz",
]
lerobot = ["envs/*.json", "annotations/steerable_pipeline/prompts/*.txt"]
[tool.setuptools.packages.find]
where = ["src"]