fix relative imports

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

@@ -14,20 +14,29 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+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.robots.unitree_g1.g1_utils import (
+from lerobot.utils.import_utils import _onnxruntime_available, require_package
+
+from ..g1_utils import (
     REMOTE_AXES,
     REMOTE_BUTTONS,
     G1_29_JointIndex,
     get_gravity_orientation,
 )
 
+if TYPE_CHECKING or _onnxruntime_available:
+    import onnxruntime as ort
+else:
+    ort = None
+
 logger = logging.getLogger(__name__)
 
 
@@ -83,6 +92,7 @@ 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

@@ -14,21 +14,34 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+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.robots.unitree_g1.g1_utils import (
+from lerobot.utils.import_utils import _onnx_available, _onnxruntime_available, require_package
+
+from ..g1_utils import (
     REMOTE_AXES,
     G1_29_JointArmIndex,
     G1_29_JointIndex,
     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)
@@ -101,6 +114,8 @@ 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_pipeline.py

@@ -16,6 +16,8 @@
 
 """SONIC planner pipeline: ONNX enc/dec/planner, movement state, and input helpers."""
 
+from __future__ import annotations
+
 import math
 import queue
 import select
@@ -26,15 +28,22 @@ import time
 import tty
 from dataclasses import dataclass
 from enum import IntEnum
+from typing import TYPE_CHECKING
 
 import numpy as np
-import onnxruntime as ort
 
-from lerobot.robots.unitree_g1.g1_utils import (
+from lerobot.utils.import_utils import _onnxruntime_available
+
+from ..g1_utils import (
     G1_29_JointIndex,
     get_gravity_orientation,
 )
 
+if TYPE_CHECKING or _onnxruntime_available:
+    import onnxruntime as ort
+else:
+    ort = None
+
 # ── Constants ────────────────────────────────────────────────────────────────
 
 DEFAULT_ANGLES = np.array(
@@ -419,7 +428,7 @@ def replan_interval(mode):
     return REPLAN_INTERVAL["default"]
 
 
-def _ort_providers(force_cpu: bool = False) -> list[str]:
+def ort_providers(force_cpu: bool = False) -> list[str]:
     """Prefer CUDA for enc/dec/planner (matches deploy when onnxruntime-gpu is installed)."""
     avail = ort.get_available_providers()
     if not force_cpu and "CUDAExecutionProvider" in avail:
@@ -471,7 +480,7 @@ class MovementSnapshot:
     facing: tuple[float, float, float] = (1.0, 0.0, 0.0)
 
 
-def _snapshot_ms(ms: MovementState) -> MovementSnapshot:
+def snapshot_ms(ms: MovementState) -> MovementSnapshot:
     md, fd = ms.movement_direction, ms.facing_direction
     return MovementSnapshot(ms.mode, ms.speed, ms.height, (md[0], md[1], md[2]), (fd[0], fd[1], fd[2]))
 
@@ -738,7 +747,7 @@ def _build_planner_inputs(ctx, ms_dict, version, seed):
 def _planner_worker(path, req_q, res_q, stop_evt, version, seed, use_gpu):
     so = ort.SessionOptions()
     so.log_severity_level = 3
-    providers = _ort_providers(force_cpu=not use_gpu)
+    providers = ort_providers(force_cpu=not use_gpu)
     sess = ort.InferenceSession(path, sess_options=so, providers=providers)
     while not stop_evt.is_set():
         try:

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

@@ -16,14 +16,19 @@
 
 """SONIC full-body controller for Unitree G1."""
 
+from __future__ import annotations
+
 import logging
 import os
+from typing import TYPE_CHECKING
 
 import numpy as np
-import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.robots.unitree_g1.controllers.sonic_pipeline import (
+from lerobot.utils.import_utils import _onnxruntime_available, require_package
+
+from ..g1_utils import lowstate_to_obs
+from .sonic_pipeline import (
     CONTROL_DT,
     DEBUG_PRINT_EVERY,
     DEFAULT_ANGLES,
@@ -33,14 +38,18 @@ from lerobot.robots.unitree_g1.controllers.sonic_pipeline import (
     MovementState,
     PlannerController,
     SonicPlanner,
-    _ort_providers,
-    _snapshot_ms,
     clamp_mode_params,
     compute_kp_kd,
+    ort_providers,
     process_joystick,
     should_replan_request,
+    snapshot_ms,
 )
-from lerobot.robots.unitree_g1.g1_utils import lowstate_to_obs
+
+if TYPE_CHECKING or _onnxruntime_available:
+    import onnxruntime as ort
+else:
+    ort = None
 
 logger = logging.getLogger(__name__)
 
@@ -89,11 +98,12 @@ class SonicRuntime:
     """Shared SONIC control loop state (standalone demo + locomotion controller)."""
 
     def __init__(self, force_cpu: bool = False):
+        require_package("onnxruntime", extra="unitree_g1")
         planner_path = hf_hub_download(repo_id="nvidia/GEAR-SONIC", filename="planner_sonic.onnx")
         encoder_path = hf_hub_download(repo_id="nvidia/GEAR-SONIC", filename="model_encoder.onnx")
         decoder_path = hf_hub_download(repo_id="nvidia/GEAR-SONIC", filename="model_decoder.onnx")
 
-        providers = _ort_providers(force_cpu=force_cpu)
+        providers = ort_providers(force_cpu=force_cpu)
         self.use_gpu = providers[0] == "CUDAExecutionProvider"
         so = ort.SessionOptions()
         so.log_severity_level = 3
@@ -113,7 +123,7 @@ class SonicRuntime:
 
         self.step = 0
         self.replan_timer = 0.0
-        self.last_ms = _snapshot_ms(self.ms)
+        self.last_ms = snapshot_ms(self.ms)
 
     @property
     def pipeline(self):
@@ -134,7 +144,7 @@ class SonicRuntime:
             self.planner.request_replan(self.controller.ref_cursor, self.ms)
             self.replan_timer = 0.0
             self.ms.needs_replan = False
-            self.last_ms = _snapshot_ms(self.ms)
+            self.last_ms = snapshot_ms(self.ms)
 
         do_enc = self.step % ENCODER_UPDATE_EVERY == 0
         if debug is None:
@@ -155,7 +165,7 @@ class SonicRuntime:
         self.controller.playing = True
         self.step = 0
         self.replan_timer = 0.0
-        self.last_ms = _snapshot_ms(self.ms)
+        self.last_ms = snapshot_ms(self.ms)
 
     def shutdown(self):
         self.planner.stop_subprocess()

src/lerobot/utils/import_utils.py

@@ -123,6 +123,8 @@ _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")