Add Unitree G1 Sonic robot model by Xucxname · Pull Request #813 · ARISE-Initiative/robosuite

Xucxname · 2026-06-12T12:36:33Z

What this does

Adds the Unitree G1 Sonic robot model with Dex-3 hands, G1Sonic model class, and robosuite registry wiring.

Label: (✨ Feature)

How it was tested

python -m pytest

Result:

448 passed, 88 skipped

Also verified G1Sonic can be imported and instantiated through create_robot.

Copilot

Pull request overview

Note

Copilot was unable to run its full agentic suite in this review.

Adds a robosuite-native integration for the Unitree G1 “SONIC” stack, including a new SonicG1/SonicG1Fixed robot with Dex3 grippers, a SONIC_WBC composite controller that routes streamed per-joint PD commands through robosuite controllers, and supporting tooling for recording/replay/testing.

Changes:

Introduces SONIC command-source + torque engine utilities (robosuite.utils.sonic.*) and a new SONIC_WBC composite controller.
Adds SonicG1 robot model + Dex3 grippers, committed MJCF assets, and a script to (re)build assets from upstream model_data.
Adds an end-to-end test suite and documentation / demo collection script for live DDS + deterministic replay.

Reviewed changes

Copilot reviewed 24 out of 139 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
tests/test_robots/test_sonic_g1.py	End-to-end tests for registration, assembly, OSC, SONIC_WBC PD dispatch matching, floating-base behavior, and data collection.
robosuite/utils/sonic/sources.py	Adds DDS / replay / mock command sources and one-time DDS init helper.
robosuite/utils/sonic/debug.py	Adds per-step recorder to generate “golden” trajectories for deterministic replay/tests.
robosuite/utils/sonic/controller.py	Adds `G1SonicController` engine for obs-building + PD torque computation + effort clipping (+ optional hands).
robosuite/utils/sonic/init.py	Exposes SONIC utilities as a package.
robosuite/scripts/collect_sonic_g1_demos.py	Script to drive SonicG1 in robosuite envs via DDS/replay/mock and record `demo.hdf5`.
robosuite/scripts/build_sonic_g1_assets.py	Script to split upstream integrated MJCF into robosuite-native robot + gripper assets.
robosuite/robots/init.py	Registers `SonicG1` / `SonicG1Fixed` in `ROBOT_CLASS_MAPPING`.
robosuite/models/robots/manipulators/sonic_g1_robot.py	New `SonicG1` / `SonicG1Fixed` robot models with base + arm ordering adjustments for robosuite.
robosuite/models/robots/manipulators/g1_sonic_robot.py	Existing `G1Sonic` model file included in manipulator imports / mapping updates.
robosuite/models/robots/manipulators/init.py	Exports `G1Sonic`, `SonicG1`, `SonicG1Fixed`.
robosuite/models/grippers/sonic_dex3_gripper.py	New Dex3 left/right gripper models and action formatting.
robosuite/models/grippers/init.py	Ensures Dex3 grippers import so they self-register.
robosuite/models/assets/robots/sonic_g1/robot.xml	Adds committed SonicG1 body asset (split from upstream model).
robosuite/models/assets/robots/g1_sonic/robot.xml	Adds/updates integrated G1 Sonic asset (with hands) used by other paths.
robosuite/models/assets/grippers/sonic_dex3_right.xml	Adds committed right Dex3 gripper MJCF asset.
robosuite/models/assets/grippers/sonic_dex3_left.xml	Adds committed left Dex3 gripper MJCF asset.
robosuite/controllers/parts/generic/joint_pos.py	Extends joint position controller to accept streamed PD commands (dq*, tau_ff, optional torque clip).
robosuite/controllers/parts/controller_factory.py	Adds `JOINT_TORQUE` option for gripper/torso/head factories.
robosuite/controllers/config/robots/default_sonic_g1.json	Adds default composite config for `SONIC_WBC` using joint position part controllers.
robosuite/controllers/composite/sonic_whole_body_controller.py	Adds `SONIC_WBC` composite controller: exchange DDS + route PD to part controllers + startup elastic band.
robosuite/controllers/composite/init.py	Imports `SonicWholeBodyController` so it registers.
docs/modules/sonic_g1.rst	Adds setup / usage docs for the SonicG1 integration.
docs/index.rst	Adds `modules/sonic_g1` to documentation toctree.

Comments suppressed due to low confidence (6)

tests/test_robots/test_sonic_g1.py:1

Hard-coded, machine-specific absolute paths make these tests non-portable and will cause most environments (including CI) to skip important coverage or fail to find assets. Prefer deriving paths from installed packages (e.g., gear_sonic.__file__), using repository-relative test data, or reading paths from environment variables / pytest options with a clear default + skip reason that includes the resolved path.
tests/test_robots/test_sonic_g1.py:1
Hard-coded, machine-specific absolute paths make these tests non-portable and will cause most environments (including CI) to skip important coverage or fail to find assets. Prefer deriving paths from installed packages (e.g., gear_sonic.__file__), using repository-relative test data, or reading paths from environment variables / pytest options with a clear default + skip reason that includes the resolved path.
robosuite/scripts/collect_sonic_g1_demos.py:1
This script is currently tied to a specific developer filesystem layout via GOLD_DIR and WITH_HAND_XML, which will break for other users. Make these configurable via CLI flags (e.g., --gold-dir, --with-hand-xml) and/or environment variables, and consider defaulting WITH_HAND_XML by locating it relative to the installed gear_sonic package (when present).
robosuite/scripts/build_sonic_g1_assets.py:1
The asset build script is not reusable as-is because it hardcodes an absolute upstream checkout path. Consider accepting --gear-sonic-dir / --src / --meshdir CLI args (with env-var fallbacks) so others can regenerate assets without editing source, and so the script can be used in automated build pipelines.
robosuite/utils/sonic/controller.py:1
If torso_link can’t be found, torso_id becomes -1 and md.xquat[-1] silently reads the last body’s quaternion, producing incorrect IMU observations without any error. This should fail fast (e.g., raise with a clear message) or fall back to a safe default (e.g., zeros) rather than indexing -1.
robosuite/utils/sonic/controller.py:1
If torso_link can’t be found, torso_id becomes -1 and md.xquat[-1] silently reads the last body’s quaternion, producing incorrect IMU observations without any error. This should fail fast (e.g., raise with a clear message) or fall back to a safe default (e.g., zeros) rather than indexing -1.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

        if self.interpolator is not None:
            self.interpolator.set_goal(self.goal_qpos)

+    def set_pd_command(self, qpos, qvel=None, kp=None, kd=None, tau_feedforward=None):


+        self.goal_qpos = np.asarray(qpos, dtype=float)
+        if qvel is not None:
+            self.desired_vel = np.asarray(qvel, dtype=float)
+        if kp is not None:
+            self.kp = np.asarray(kp, dtype=float)
+        if kd is not None:
+            self.kd = np.asarray(kd, dtype=float)
+        if tau_feedforward is not None:
+            self.torque_feedforward = np.asarray(tau_feedforward, dtype=float)


        if self.interpolator is not None:
            self.interpolator.set_goal(self.goal_qpos)

+    def set_pd_command(self, qpos, qvel=None, kp=None, kd=None, tau_feedforward=None):


+routes the per-motor PD command streamed by the C++ stack through robosuite's per-part
+``JointPositionController`` s. **robosuite** owns the physics clock; on the SONIC path the


Copilot

Pull request overview

Copilot reviewed 4 out of 69 changed files in this pull request and generated 3 comments.

Add G1 Sonic robot model

227ba2c

Copilot AI review requested due to automatic review settings June 12, 2026 12:36

Copilot AI reviewed Jun 12, 2026

View reviewed changes

Xucxname requested a review from Copilot June 12, 2026 16:59

Xucxname marked this pull request as draft June 12, 2026 17:00

Xucxname changed the base branch from master to robosuite-sonic June 12, 2026 17:00

Xucxname marked this pull request as ready for review June 12, 2026 17:01

Copilot AI reviewed Jun 12, 2026

View reviewed changes

Comment thread robosuite/controllers/parts/generic/joint_pos.py

Comment on lines 294 to 306

Comment thread docs/modules/sonic_g1.rst

Comment on lines 29 to 30

Comment thread robosuite/controllers/composite/sonic_whole_body_controller.py

Comment on lines 171 to 183

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add Unitree G1 Sonic robot model#813

Add Unitree G1 Sonic robot model#813
Xucxname wants to merge 1 commit into
ARISE-Initiative:robosuite-sonicfrom
Xucxname:unitree-robotics

Xucxname commented Jun 12, 2026

Uh oh!

Copilot AI left a comment

Uh oh!

Copilot AI left a comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

		routes the per-motor PD command streamed by the C++ stack through robosuite's per-part
		``JointPositionController`` s. robosuite owns the physics clock; on the SONIC path the

Conversation

Xucxname commented Jun 12, 2026

What this does

How it was tested

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants