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2 Commits

Author SHA1 Message Date
Martino Russi 31d1439e29 add custom motion loader 2026-06-17 12:29:36 +02:00
Martino Russi 1c118c6359 feat(unitree_g1): add SONIC whole-body controller 
Move GrootLocomotionController and HolosomaLocomotionController into a new
controllers/ subpackage and add the SONIC whole-body controller
(sonic_pipeline.py, sonic_whole_body.py) plus the examples/unitree_g1/sonic.py
standalone script. UnitreeG1 now honors a controller's kp/kd, calls
controller.shutdown() on disconnect, and skips arm publishing for full_body
controllers.
 2026-06-16 17:12:20 +02:00