Martino Russi fc7a0bc2fd feat(unitree_g1): drive SONIC whole-body from a 34-D OpenHLM/pi0.5 VLA ...

Add a dense 34-D whole-body command path so lerobot-rollout can drive the
G1 directly with an OpenHLM / pi0.5 policy through the SONIC encoder/decoder:

- SonicWholeBodyController: wb.{i}.pos action interface, mode-0 reference with
  a rolling 50-frame trajectory (finite-diff velocities) and first-tick anchor
  init; correct MuJoCo->IsaacLab joint reordering.
- unitree_g1: expose 34-D wb_state.{i}.pos proprio; empty/replay camera feeds
  for image-conditioned policies; Dex3 hand publishing from the grip scalars.
- g1_utils: obs_to_wb34_state + WB action constants.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-07-20 20:01:48 +02:00

..

lerobot

feat(unitree_g1): drive SONIC whole-body from a 34-D OpenHLM/pi0.5 VLA

2026-07-20 20:01:48 +02:00