(refactor) restore remote_keys

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -34,6 +34,7 @@ from .config_unitree_g1 import UnitreeG1Config
 from .g1_kinematics import G1_29_ArmIK
 from .g1_utils import (
     REMOTE_AXES,
+    REMOTE_KEYS,
     G1_29_JointArmIndex,
     G1_29_JointIndex,
     default_remote_input,
@@ -589,14 +590,18 @@ class UnitreeG1(Robot):
     def _update_controller_action(self, action: RobotAction) -> None:
         """Update controller input state from an incoming teleop action.
 
-        Controller-agnostic: every value-carrying key (locomotion ``remote.*`` axes or
+        Locomotion controllers (GR00T / Holosoma) read the ``remote.*`` joystick axes;
-        SONIC ``motion_token.*`` values) is forwarded verbatim into ``controller_input``
+        the SONIC whole-body controller reads the 64-D ``motion_token.*`` latent. Both are
-        and each controller extracts only the keys it understands. The robot deliberately
+        forwarded into ``controller_input`` for the controller thread to consume.
-        does not enumerate any controller's key schema here.
         """
+        from .controllers.sonic_whole_body import TOKEN_ACTION_PREFIX
+
         with self._controller_action_lock:
+            for key in REMOTE_KEYS:
+                if key in action:
+                    self.controller_input[key] = action[key]
             for key, value in action.items():
-                if isinstance(key, str) and value is not None:
+                if isinstance(key, str) and value is not None and key.startswith(TOKEN_ACTION_PREFIX):
                     self.controller_input[key] = value
 
     @property