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

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.

pyproject.toml

@@ -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"]

src/lerobot/robots/unitree_g1/README.md

@@ -60,7 +60,7 @@ lerobot-rollout \
   --robot.is_simulation=false --robot.onboard=false \
   --robot.robot_ip=<ROBOT_IP> \
   --robot.controller=SonicWholeBodyController --robot.sonic_token_action=true \
-  --robot.cameras='{ego_view: {type: zmq, server_address: <ROBOT_IP>, port: 5555, camera_name: ego_view}}' \
+  --robot.cameras='{ego_view: {type: zmq, server_address: <ROBOT_IP>, port: 5555, camera_name: ego_view, width: 640, height: 480, fps: 30}}' \
   --task="walk back and forth" --device=cuda
 ```
 

src/lerobot/robots/unitree_g1/controllers/gr00t_locomotion.py

@@ -18,13 +18,11 @@ from __future__ import annotations
 
 import logging
 from collections import deque
-from typing import TYPE_CHECKING
 
 import numpy as np
+import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.utils.import_utils import _onnxruntime_available, require_package
-
 from ..g1_utils import (
     REMOTE_AXES,
     REMOTE_BUTTONS,
@@ -32,11 +30,6 @@ from ..g1_utils import (
     get_gravity_orientation,
 )
 
-if TYPE_CHECKING or _onnxruntime_available:
-    import onnxruntime as ort
-else:
-    ort = None
-
 logger = logging.getLogger(__name__)
 
 
@@ -98,7 +91,6 @@ class GrootLocomotionController:
     control_dt = CONTROL_DT  # Expose for unitree_g1.py
 
     def __init__(self):
-        require_package("onnxruntime", extra="unitree_g1")
         # Load policies
         self.policy_balance, self.policy_walk = load_groot_policies()
 

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

@@ -18,13 +18,12 @@ from __future__ import annotations
 
 import json
 import logging
-from typing import TYPE_CHECKING
 
 import numpy as np
+import onnx
+import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.utils.import_utils import _onnx_available, _onnxruntime_available, require_package
-
 from ..g1_utils import (
     REMOTE_AXES,
     G1_29_JointArmIndex,
@@ -32,16 +31,6 @@ from ..g1_utils import (
     get_gravity_orientation,
 )
 
-if TYPE_CHECKING or _onnxruntime_available:
-    import onnxruntime as ort
-else:
-    ort = None
-
-if TYPE_CHECKING or _onnx_available:
-    import onnx
-else:
-    onnx = None
-
 logger = logging.getLogger(__name__)
 
 DEFAULT_ANGLES = np.zeros(29, dtype=np.float32)
@@ -114,8 +103,6 @@ class HolosomaLocomotionController:
     control_dt = CONTROL_DT  # Expose for unitree_g1.py
 
     def __init__(self):
-        require_package("onnxruntime", extra="unitree_g1")
-        require_package("onnx", extra="unitree_g1")
         # Load policy and gains
         self.policy, self.kp, self.kd = load_policy()
 

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

@@ -31,13 +31,11 @@ convert between them. Quaternions are scalar-first ``(w, x, y, z)``.
 from __future__ import annotations
 
 import logging
-from typing import TYPE_CHECKING
 
 import numpy as np
+import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.utils.import_utils import _onnxruntime_available, require_package
-
 from ..g1_utils import (
     ISAACLAB_TO_MUJOCO,
     MUJOCO_TO_ISAACLAB,
@@ -48,11 +46,6 @@ from ..g1_utils import (
     ort_providers,
 )
 
-if TYPE_CHECKING or _onnxruntime_available:
-    import onnxruntime as ort
-else:
-    ort = None
-
 logger = logging.getLogger(__name__)
 
 # ── Constants (hardware-validated; see the NVIDIA SONIC deploy reference) ──────
@@ -311,7 +304,6 @@ class SonicRuntime:
     """
 
     def __init__(self, force_cpu: bool = False):
-        require_package("onnxruntime", extra="unitree_g1")
         decoder_path = hf_hub_download(repo_id="nvidia/GEAR-SONIC", filename="model_decoder.onnx")
 
         providers = ort_providers(force_cpu=force_cpu)

src/lerobot/robots/unitree_g1/run_g1_server.py

@@ -43,10 +43,8 @@ import argparse
 import base64
 import contextlib
 import json
-import os
 import re
 import signal
-import sys
 import threading
 import time
 from typing import Any
@@ -257,21 +255,7 @@ def serve_onboard_controller(
     sock.setsockopt(zmq.RCVTIMEO, 200)  # keeps the loop responsive to the stop event
     sock.bind(f"tcp://0.0.0.0:{action_port}")
     print(f"Onboard controller live. Waiting for laptop actions on :{action_port} ...")
-    print("Type 'e' then Enter to STOP immediately (or Ctrl-C for graceful shutdown).")
-
-    def estop_listener() -> None:
-        for line in sys.stdin:
-            if line.strip().lower() == "e":
-                print("E-STOP ('e'): going passive NOW.")
-                try:
-                    robot._shutdown_event.set()  # stop the controller loop publishing
-                    time.sleep(0.05)
-                    robot._send_zero_torque()  # motors limp; nothing overwrites it now
-                except Exception as e:  # noqa: BLE001
-                    print(f"E-stop zero-torque failed: {e}")
-                os._exit(0)  # immediate hard exit, no slow cleanup
-
-    threading.Thread(target=estop_listener, daemon=True).start()
+    print("Ctrl-C for graceful shutdown.")
 
     state_sock = None
     if state_fps > 0:

src/lerobot/utils/import_utils.py

@@ -60,17 +60,7 @@ def is_package_available(
                     # If the package can't be imported, it's not available
                     package_exists = False
             else:
-                # The distribution may be published under a name that differs from the
-                # import name (e.g. ``onnxruntime`` imports from ``onnxruntime-gpu`` /
-                # ``onnxruntime-silicon``). Resolve the import name to its actual
-                # distribution(s) and read the version from there before giving up.
-                try:
-                    dists = importlib.metadata.packages_distributions().get(import_name, [])
-                    if dists:
-                        package_version = importlib.metadata.version(dists[0])
-                    else:
-                        package_exists = False
-                except importlib.metadata.PackageNotFoundError:
+                # For packages other than "torch", don't attempt the fallback and set as not available
                 package_exists = False
         logging.debug(f"Detected {pkg_name} version: {package_version}")
     if return_version:
@@ -133,8 +123,6 @@ _pyrealsense2_available = is_package_available("pyrealsense2") or is_package_ava
     "pyrealsense2-macosx", import_name="pyrealsense2"
 )
 _zmq_available = is_package_available("pyzmq", import_name="zmq")
-_onnxruntime_available = is_package_available("onnxruntime")
-_onnx_available = is_package_available("onnx")
 _hebi_available = is_package_available("hebi-py", import_name="hebi")
 _teleop_available = is_package_available("teleop")
 _placo_available = is_package_available("placo")