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3f4bb1d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 | """SONIC v1.1 ONNX agent (G1 29-DoF). Does not import robotic_grounding."""
from .batched import BatchedSonicController
from .clip_motion import ClipRef, load_clip_ref, vr3_local_targets
from .constants import (
ACTION_CLIP,
DEFAULT_ANGLES,
G1_ACTION_SCALE,
G1_ISAACLAB_JOINT_NAMES,
G1_MUJOCO_JOINT_NAMES,
G1_SONIC_JOINT_NAMES,
NUM_JOINTS,
VR3_BODIES,
VR3_OFFSETS,
)
from .kinematics import vr3_body_ids, vr3_local_batch, vr3_local_from_bodies
from .obs import History, default_q, pack_decoder, pack_encoder
from .policy import SonicOnnxAgent
__all__ = [
"ACTION_CLIP",
"BatchedSonicController",
"ClipRef",
"DEFAULT_ANGLES",
"G1_ACTION_SCALE",
"G1_ISAACLAB_JOINT_NAMES",
"G1_MUJOCO_JOINT_NAMES",
"G1_SONIC_JOINT_NAMES",
"History",
"NUM_JOINTS",
"SonicOnnxAgent",
"VR3_BODIES",
"VR3_OFFSETS",
"default_q",
"load_clip_ref",
"pack_decoder",
"pack_encoder",
"vr3_body_ids",
"vr3_local_batch",
"vr3_local_from_bodies",
"vr3_local_targets",
]
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