"""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",
]