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https://github.com/huggingface/lerobot.git
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Martino Russi
55 lines
2.8 KiB
Markdown
55 lines
2.8 KiB
Markdown
# SONIC fidelity TODO — gaps vs gear_sonic / C++ deploy
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Remaining differences between this lerobot SONIC port and the original gear_sonic +
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`gear_sonic_deploy/g1_deploy_onnx_ref` reference. All three deployed encoder modes exist
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(0 locomotion, 1 three-point, 2 full-body SMPL); these are faithfulness gaps in *how*
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some pieces behave.
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## 1. 3-point calibration & source (mode 1)
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The original derives the 3 points from **full-body joints** and calibrates with
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`ThreePointPose` against **live measured robot joints** (`reset_with_measured_q`), plus
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neck→waist coupling. Our device path (head + controllers, fixed zero-q neutral) is an
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approximation.
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- Missing: measured-q recalibration + waist coupling.
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- Note: the body-source `compute_3point` path (needs PICO Motion Trackers) is already faithful.
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## 2. Locomotion stick/speed mapping (#6)
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gear_sonic's `PlannerLoop` uses a yaw-accumulator + **mode-dependent speed curves**
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(slow `0.1 + 0.5·mag`, run `1.5 + 3·mag`) with a facing-rotated movement vector. We reuse
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the keyboard-parity `apply_joystick_axes` (no speed-by-mode curve).
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- Also: PICO stick sign conventions untested (may need axis flips in `pico_publisher`).
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- Self-contained and sim-testable.
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## 3. Mode-2 root motion
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`enable_smpl_root=False` by default; the original feeds the SMPL root orientation into the
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anchor. Faithful only when enabled **and** the 30→50 Hz root trajectory is smoothed/
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rate-matched (currently causes base-acceleration spikes → NaN QACC).
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## 4. Start/stop handshake
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C++ has `WAIT_FOR_CONTROL` (operator "start" gate) and a "stop" halt. We start policy
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immediately after the startup ramp — no explicit arm/e-stop state machine.
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## 5. Startup ramp target
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C++ `InitControl` ramps to `default_angles`; we ramp to the policy's live commanded pose.
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Deliberate (per request) — only a gap if exact C++ parity is wanted.
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## 6. Hands / grippers
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Original maps trigger/grip → Dex3 hand joints in modes 1 & 2 (simple gripping: thumb open,
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trigger>0.5 closes middle finger, run through a gripper IK solver). Our 29-DOF path has no
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hand control.
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- Hardware here: **OpenArm grippers** (not Dex3) — could be routed through the same
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trigger→open/close path, but needs the robot interface to expose/command the gripper
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actuators (they're separate from the 29-DOF body).
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## Not gaps (settled)
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- `vr_5point_index` — vestigial constant in `policy_parameters.hpp`, not a deployed encoder
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mode. Nothing to implement.
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- Action scaling, kp/kd, IsaacLab↔MuJoCo remaps, encoder cadence (encode ⅕ / decode 1×),
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per-mode replan intervals (0.1/0.2/1.0), 8-frame cross-fade blend — all faithful.
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- Graceful damped shutdown — intentional safety addition, keep.
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## Suggested priority
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- High (change how the robot moves under teleop): #1, #2.
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- Medium: #3, #4, #6 (grippers).
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- Low / intentional: #5.
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