SONIC whole-body controller for the G1 - #3557

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Nabla7 wants to merge 25 commits into

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pim/feat/g1-sonic-wbc

Commits on Aug 19, 2026

feat(g1): SONIC whole-body controller as a coordinator task
Nabla7
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8d84764
fix(g1-sonic): full blueprint verified in sim; nav stack restored
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61daff9
feat(g1-sonic): rerun robot visualization config
Nabla7
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7a192fb
feat(g1-sonic): full ZMQ wire parity (Phase 4)
Nabla7
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c00e112
feat(g1-sonic): motion-clip RPCs + models and clips in LFS
Nabla7
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e52c5a7
fix(g1-sonic): drop __init__.py — dimos task dirs are namespace packages
Nabla7
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f454e4f

Commits on Aug 20, 2026

feat(g1-sonic): VR 3-point teleop (encoder mode 1)
Nabla7
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0d6b96b

Commits on Aug 22, 2026

Commits on Aug 24, 2026

Commits on Sep 1, 2026

feat(g1-sonic): crawl replans at 0.2s (C++ replan_interval_crawling_)
Nabla7
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4032808
Drop the ZMQ wire from the SONIC task
Nabla7
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ec2012d

Commits on Sep 4, 2026

Merge branch 'main' into pim/feat/g1-sonic-wbc
Nabla7
authored
4ccee7d
Fix CI: section markers and all_blueprints ordering
Nabla7
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7b00473
Merger: establish protocol version once per stream
Nabla7
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f40c9c9

Commits on Sep 14, 2026

fix(g1-sonic): keep held yaw commands replanning
Nabla7
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1ff2b54
fix(g1-sonic): accumulate heading and preserve planner timing
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9ff264f

Commits on Sep 15, 2026

Merge main into SONIC controller branch
Nabla7
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877d1b2
fix(sonic): isolate model setup and harden controller lifecycle
Nabla7
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48049f2

Commits on Sep 16, 2026