clean init and utils

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

@@ -18,11 +18,10 @@
 
 from .gr00t_locomotion import GrootLocomotionController
 from .holosoma_locomotion import HolosomaLocomotionController
-from .sonic_whole_body import SonicRuntime, SonicWholeBodyController
+from .sonic_whole_body import SonicWholeBodyController
 
 __all__ = [
     "GrootLocomotionController",
     "HolosomaLocomotionController",
-    "SonicRuntime",
     "SonicWholeBodyController",
 ]

src/lerobot/robots/unitree_g1/g1_utils.py

@@ -100,11 +100,10 @@ REMOTE_BUTTONS = tuple(f"remote.button.{i}" for i in range(16))
 REMOTE_KEYS = REMOTE_AXES + REMOTE_BUTTONS
 
 # Reserved action-dict field used to forward the set of currently-pressed keyboard
-# keys from a KeyboardTeleop through the standard action pipeline to the SONIC
-# whole-body controller (see SonicWholeBodyController._process_keyboard).
+# keys from a KeyboardTeleop through the standard action pipeline to a controller.
 KEYBOARD_KEYS_FIELD = "keyboard.keys"
 
-# ── Dense whole-body joint reference (SONIC encode_mode 0, OpenHLM / pi0.5) ──────
+
 def default_remote_input() -> dict[str, float]:
     """Return a zeroed-out remote input dict (axes + buttons)."""
     return dict.fromkeys(REMOTE_KEYS, 0.0)