initial WIP changes to support sonic in robosuite still needs review and ton more features, but right now locomotion in the robosuite env works with keyboard#809
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…and ton more features, but right now locomotion in the robosuite env works with keyboard
Replace the full-qpos freeze/fall-recovery startup hold in SonicWholeBodyController with an elastic band: a spring-damper force on the PELVIS body only (mj_data.xfrc_applied), never a qpos write, so free task objects (e.g. a manipulation env's cube/pot) evolve under normal physics instead of being teleported back to a snapshot every step. Reuses gear_sonic's ElasticBand (the same law base_sim uses), anchored at the spawn pose; released manually via band_enabled / release_band()/toggle_band() (the collector binds '9' in the viewer, mirroring base_sim). No fall recovery (a collapse stays down, by design). Also this session: - Remove the _SOURCE_FACTORY hook: the controller always builds DDSCommandSource; tests/collector override by monkeypatching the module's DDSCommandSource symbol (_patch_source). - Resolve the WBC config path from the installed gear_sonic package (_wbc_config_path); keep the guarded WBC_CONFIG export for tests/scripts. - Rename the opaque 1-2 letter locals in _prepare/run_controller. - collect_sonic_g1_demos.py: migrate off the removed factory hook, wire the band-release key, refresh docstrings, drop dead imports. - Add test_sonic_startup_band_is_object_safe (perturb TwoArmLift's pot, step, assert it is not snapped back + the pelvis band force is set/cleared). Tests: robosuite SonicG1 suite 8/8. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Builds on the band commit (80dc64c): - SonicG1 base placement: zero _base_offset (robosuite derives it from the root body's authored pos, and our pelvis is authored at z=0.793, so set_base_xpos buried the pelvis at -0.793) and put the stand height in base_xpos_offset.z (GR1 convention). The env now stands the floating robot at [front-of-table, 0.793], feet on the floor, in Lift/Stack/TwoArmLift. - collect_sonic_g1_demos.py: --environment loads ANY registered robosuite env via robosuite.make (not just the table-free SonicArena) -- safe now that the band no longer pins qpos; --robot selects SonicG1[/Fixed]; make_env() helper; set_init_pose sets JOINTS only (the env owns base placement). - Bundles external asset updates (build_sonic_g1_assets.py / robot.xml). SonicG1 suite 8/8; replay records a demo.hdf5 in Lift with the cube freejoint in the recorded state. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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WIP