| """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", | |
| ] | |