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merge sonic runtime into sonicwbc

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This commit is contained in:
Martino Russi
2026-07-30 16:22:42 +02:00
parent f8359c19d6
commit 6ea5dd95e9
1 changed files with 8 additions and 32 deletions
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src/lerobot/robots/unitree_g1/controllers/sonic_whole_body.py
+8 -32
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@@ -254,44 +254,23 @@ class SonicDecoder:
return {f"{m.name}.q": float(target[m.value]) for m in G1_29_JointIndex} return {f"{m.name}.q": float(target[m.value]) for m in G1_29_JointIndex}
class SonicRuntime: class SonicWholeBodyController:
"""Loads the SONIC decoder ONNX model and owns the decode controller. """Full-body SONIC controller for UnitreeG1's background controller thread.
Token-only deploy: the encoder is bypassed; each tick the decoder consumes a 64-D Token-only deploy: the encoder is bypassed; each tick the decoder consumes a 64-D
latent token supplied directly by the policy. latent token supplied directly by the policy.
""" """
def __init__(self):
decoder_sess, self.kp, self.kd, default_angles, action_scale, neutral_token = load_sonic_decoder()
self.default_angles = default_angles
self.neutral_token = neutral_token
self.controller = SonicDecoder(decoder_sess, default_angles, action_scale)
@property
def pipeline(self):
return self.controller
def reset(self):
self.controller.reset()
def shutdown(self):
pass
class SonicWholeBodyController:
"""Full-body SONIC controller for UnitreeG1's background controller thread."""
control_dt = CONTROL_DT control_dt = CONTROL_DT
full_body = True full_body = True
def __init__(self): def __init__(self):
logger.info("Loading SONIC whole-body controller...") logger.info("Loading SONIC whole-body controller...")
self._runtime = SonicRuntime() decoder_sess, self.kp, self.kd, default_angles, action_scale, self._neutral_token = (
self.kp = self._runtime.kp load_sonic_decoder()
self.kd = self._runtime.kd )
self.controller = self._runtime.controller self._default_angles = default_angles
self._default_angles = self._runtime.default_angles self.controller = SonicDecoder(decoder_sess, default_angles, action_scale)
self._neutral_token = self._runtime.neutral_token
# Startup blend: ease from the robot's initial pose into the first commanded policy # Startup blend: ease from the robot's initial pose into the first commanded policy
# targets over INIT_RAMP_S (captured on the first control tick). # targets over INIT_RAMP_S (captured on the first control tick).
@@ -373,11 +352,8 @@ class SonicWholeBodyController:
return self._startup_blend(obs, self.controller.step(obs, self._last_token)) return self._startup_blend(obs, self.controller.step(obs, self._last_token))
def reset(self): def reset(self):
self._runtime.reset() self.controller.reset()
self._init_step = 0 # re-run the startup blend after a reset self._init_step = 0 # re-run the startup blend after a reset
self._start_pose = {} self._start_pose = {}
# Drop the held token so the neutral token is re-seeded after a reset. # Drop the held token so the neutral token is re-seeded after a reset.
self._last_token = None self._last_token = None
def shutdown(self):
self._runtime.shutdown()