"""SONIC v1.1 G1 29-DoF layout. Matches GR00T ``gear_sonic_deploy/.../policy_parameters.hpp`` and ``checkpoints/sonic/sonic_v1_1/{observation_config,model_config}.yaml``. Two joint orders coexist and mixing them silently produces a robot that thrashes instead of standing: * **MuJoCo order** – hardware/URDF order. ``default_angles``, ``kps``/``kds`` and ``g1_action_scale`` in ``policy_parameters.hpp`` are indexed this way. * **Isaac Lab order** – what the network actually reads and writes. All policy observations (``body_joint_positions``, ``last_actions``, reference motion) and the 29-D action vector are in this order. Deploy bridges them in ``CreatePolicyCommand``:: q_target_mujoco[i] = default_angles[i] + action_isaaclab[isaaclab_to_mujoco[i]] * g1_action_scale[i] Everything exported below (``DEFAULT_ANGLES``, ``G1_ACTION_SCALE``, ``G1_SONIC_JOINT_NAMES``) is in **Isaac Lab order** so the whole pipeline can stay in one frame of reference. """ from __future__ import annotations G1_MUJOCO_JOINT_NAMES: list[str] = [ "left_hip_pitch_joint", "left_hip_roll_joint", "left_hip_yaw_joint", "left_knee_joint", "left_ankle_pitch_joint", "left_ankle_roll_joint", "right_hip_pitch_joint", "right_hip_roll_joint", "right_hip_yaw_joint", "right_knee_joint", "right_ankle_pitch_joint", "right_ankle_roll_joint", "waist_yaw_joint", "waist_roll_joint", "waist_pitch_joint", "left_shoulder_pitch_joint", "left_shoulder_roll_joint", "left_shoulder_yaw_joint", "left_elbow_joint", "left_wrist_roll_joint", "left_wrist_pitch_joint", "left_wrist_yaw_joint", "right_shoulder_pitch_joint", "right_shoulder_roll_joint", "right_shoulder_yaw_joint", "right_elbow_joint", "right_wrist_roll_joint", "right_wrist_pitch_joint", "right_wrist_yaw_joint", ] G1_ISAACLAB_JOINT_NAMES: list[str] = [ "left_hip_pitch_joint", "right_hip_pitch_joint", "waist_yaw_joint", "left_hip_roll_joint", "right_hip_roll_joint", "waist_roll_joint", "left_hip_yaw_joint", "right_hip_yaw_joint", "waist_pitch_joint", "left_knee_joint", "right_knee_joint", "left_shoulder_pitch_joint", "right_shoulder_pitch_joint", "left_ankle_pitch_joint", "right_ankle_pitch_joint", "left_shoulder_roll_joint", "right_shoulder_roll_joint", "left_ankle_roll_joint", "right_ankle_roll_joint", "left_shoulder_yaw_joint", "right_shoulder_yaw_joint", "left_elbow_joint", "right_elbow_joint", "left_wrist_roll_joint", "right_wrist_roll_joint", "left_wrist_pitch_joint", "right_wrist_pitch_joint", "left_wrist_yaw_joint", "right_wrist_yaw_joint", ] # Policy I/O order. G1_SONIC_JOINT_NAMES: list[str] = list(G1_ISAACLAB_JOINT_NAMES) # lower_body_joint_mujoco_order_in_isaaclab_index / wrist_joint_isaaclab_order_in_isaaclab_index LOWER_BODY_ISAAC_IDX = [0, 3, 6, 9, 13, 17, 1, 4, 7, 10, 14, 18] WRIST_ISAAC_IDX = [23, 24, 25, 26, 27, 28] # ManagerEnvWrapper clips the raw network action before scaling. ACTION_CLIP = 20.0 # TrackingCommandCfg.vr_3point_body / vr_3point_body_offset (offsets are body-local). VR3_BODIES = ("left_wrist_yaw_link", "right_wrist_yaw_link", "torso_link") DEFAULT_ANGLES_MUJOCO = [ -0.312, 0.0, 0.0, 0.669, -0.363, 0.0, -0.312, 0.0, 0.0, 0.669, -0.363, 0.0, 0.0, 0.0, 0.0, 0.2, 0.2, 0.0, 0.6, 0.0, 0.0, 0.0, 0.2, -0.2, 0.0, 0.6, 0.0, 0.0, 0.0, ] _ARMATURE_5020 = 0.003609725 _ARMATURE_7520_14 = 0.010177520 _ARMATURE_7520_22 = 0.025101925 _ARMATURE_4010 = 0.00425 _W = 10 * 2.0 * 3.1415926535 _STIFF_5020 = _ARMATURE_5020 * _W**2 _STIFF_7520_14 = _ARMATURE_7520_14 * _W**2 _STIFF_7520_22 = _ARMATURE_7520_22 * _W**2 _STIFF_4010 = _ARMATURE_4010 * _W**2 _DAMP_5020 = 2.0 * 2.0 * _ARMATURE_5020 * _W _DAMP_7520_14 = 2.0 * 2.0 * _ARMATURE_7520_14 * _W _DAMP_7520_22 = 2.0 * 2.0 * _ARMATURE_7520_22 * _W _DAMP_4010 = 2.0 * 2.0 * _ARMATURE_4010 * _W STIFFNESS_5020 = _STIFF_5020 STIFFNESS_7520_14 = _STIFF_7520_14 STIFFNESS_7520_22 = _STIFF_7520_22 STIFFNESS_4010 = _STIFF_4010 DAMPING_5020 = _DAMP_5020 DAMPING_7520_14 = _DAMP_7520_14 DAMPING_7520_22 = _DAMP_7520_22 DAMPING_4010 = _DAMP_4010 ARMATURE_5020 = _ARMATURE_5020 ARMATURE_7520_14 = _ARMATURE_7520_14 ARMATURE_7520_22 = _ARMATURE_7520_22 ARMATURE_4010 = _ARMATURE_4010 ACTION_SCALE_MUJOCO = [ 0.25 * 139.0 / _STIFF_7520_22, 0.25 * 139.0 / _STIFF_7520_22, 0.25 * 88.0 / _STIFF_7520_14, 0.25 * 139.0 / _STIFF_7520_22, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 139.0 / _STIFF_7520_22, 0.25 * 139.0 / _STIFF_7520_22, 0.25 * 88.0 / _STIFF_7520_14, 0.25 * 139.0 / _STIFF_7520_22, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 88.0 / _STIFF_7520_14, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 5.0 / _STIFF_4010, 0.25 * 5.0 / _STIFF_4010, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 25.0 / _STIFF_5020, 0.25 * 5.0 / _STIFF_4010, 0.25 * 5.0 / _STIFF_4010, ] def _to_isaaclab(values_mujoco: list[float]) -> list[float]: """Reindex a MuJoCo-ordered per-joint array into Isaac Lab order, by name.""" by_name = dict(zip(G1_MUJOCO_JOINT_NAMES, values_mujoco, strict=True)) return [by_name[n] for n in G1_ISAACLAB_JOINT_NAMES] DEFAULT_ANGLES = _to_isaaclab(DEFAULT_ANGLES_MUJOCO) G1_ACTION_SCALE = _to_isaaclab(ACTION_SCALE_MUJOCO) ENCODER_DIM = 1751 DECODER_DIM = 994 TOKEN_DIM = 64 NUM_JOINTS = 29 HIST_FRAMES = 10 FUTURE_FRAMES = 10 G1_STEP = 5 ENCODER_SLICES: list[tuple[str, int]] = [ ("encoder_mode_4", 4), ("motion_joint_positions_10frame_step5", 290), ("motion_joint_velocities_10frame_step5", 290), ("motion_anchor_orientation_heading_10frame_step5", 60), ("motion_anchor_orientation_heading", 6), ("motion_joint_positions_lowerbody_10frame_step5", 120), ("motion_joint_velocities_lowerbody_10frame_step5", 120), ("vr_3point_local_target", 9), ("vr_3point_local_orn_target", 12), ("smpl_joints_10frame_step1", 720), ("smpl_anchor_orientation_heading_10frame_step1", 60), ("motion_joint_positions_wrists_10frame_step1", 60), ] MODE_IDS = {"g1": 0, "teleop": 1, "smpl": 2} VR3_OFFSETS = ( (0.18, -0.025, 0.0), # left wrist (0.18, 0.025, 0.0), # right wrist (0.0, 0.0, 0.35), # torso / head proxy ) def encoder_offsets() -> dict[str, tuple[int, int]]: out: dict[str, tuple[int, int]] = {} i = 0 for name, dim in ENCODER_SLICES: out[name] = (i, i + dim) i += dim if i != ENCODER_DIM: raise RuntimeError(f"encoder layout {i} != {ENCODER_DIM}") return out ENCODER_OFF = encoder_offsets()