feat(groot): add UNITREE_G1_SONIC embodiment config

Add data config for the new UNITREE_G1_SONIC embodiment from
Isaac-GR00T (NVIDIA/Isaac-GR00T@3df8b38). This is a posttrain
embodiment using the SONIC whole-body controller where the VLA
action space consists of motion tokens + hand joint commands.

Config details:
- State: full body (legs, waist, arms, hands) + projected_gravity
- Action: motion_token, left/right_hand_joints (SONIC latents)
- Observation: single frame (index 0)
- Action horizon: 40 steps

References:
- https://github.com/NVIDIA/Isaac-GR00T/blob/3df8b38/gr00t/data/embodiment_tags.py#L105
- https://github.com/NVIDIA/Isaac-GR00T/blob/3df8b38/gr00t/configs/data/embodiment_configs.py

Author: strands-agent

strands_robots/policies/groot/data_configs.json

@@ -968,11 +968,80 @@
     },
     "oxe_droid_relative_eef_relative_joint": {
       "_extends": "oxe_droid"
+    },
+    "unitree_g1_sonic": {
+      "video_keys": [
+        "video.ego_view"
+      ],
+      "state_keys": [
+        "state.left_leg",
+        "state.right_leg",
+        "state.waist",
+        "state.left_arm",
+        "state.right_arm",
+        "state.left_hand",
+        "state.right_hand",
+        "state.projected_gravity"
+      ],
+      "action_keys": [
+        "action.motion_token",
+        "action.left_hand_joints",
+        "action.right_hand_joints"
+      ],
+      "language_keys": [
+        "annotation.human.task_description"
+      ],
+      "observation_indices": [
+        0
+      ],
+      "action_indices": [
+        0,
+        1,
+        2,
+        3,
+        4,
+        5,
+        6,
+        7,
+        8,
+        9,
+        10,
+        11,
+        12,
+        13,
+        14,
+        15,
+        16,
+        17,
+        18,
+        19,
+        20,
+        21,
+        22,
+        23,
+        24,
+        25,
+        26,
+        27,
+        28,
+        29,
+        30,
+        31,
+        32,
+        33,
+        34,
+        35,
+        36,
+        37,
+        38,
+        39
+      ]
     }
   },
   "aliases": {
     "agibot_dual_arm": "agibot_dual_arm_gripper",
     "real_g1_relative_eef_relative_joints": "unitree_g1_real",
-    "oxe_droid_rel": "oxe_droid_relative_eef_relative_joint"
+    "oxe_droid_rel": "oxe_droid_relative_eef_relative_joint",
+    "unitree_g1_sonic": "unitree_g1_sonic"
   }
 }

strands_robots/tools/gr00t_inference.py

@@ -76,7 +76,8 @@ def gr00t_inference(
 
         **Unitree G1 humanoid:**
           ``unitree_g1``, ``unitree_g1_full_body``, ``unitree_g1_locomanip``,
-          ``unitree_g1_real`` (N1.7 REAL_G1 embodiment - locomotion + bimanual manipulation)
+          ``unitree_g1_real`` (N1.7 REAL_G1 embodiment — locomotion + bimanual manipulation),
+          ``unitree_g1_sonic`` (SONIC whole-body controller — VLA action space is SONIC latents)
 
         **Franka Panda manipulators:**
           ``single_panda_gripper``, ``bimanual_panda_gripper``, ``bimanual_panda_hand``

tests/policies/groot/test_data_config.py

@@ -182,6 +182,27 @@ def test_unitree_g1_real_n17_schema(self):
         assert config.observation_indices == [-20, 0]
         assert config.action_indices == list(range(40))
 
+    def test_unitree_g1_sonic_schema(self):
+        """UNITREE_G1_SONIC — whole-body controller with SONIC latent action space.
+
+        Uses motion_token + hand joints as action keys with 40-step horizon.
+        State includes projected_gravity for proprioception.
+        """
+        config = DATA_CONFIG_MAP["unitree_g1_sonic"]
+        assert "video.ego_view" in config.video_keys
+        # Full body state with projected gravity
+        assert "state.left_leg" in config.state_keys
+        assert "state.right_leg" in config.state_keys
+        assert "state.projected_gravity" in config.state_keys
+        # SONIC latent action space
+        assert "action.motion_token" in config.action_keys
+        assert "action.left_hand_joints" in config.action_keys
+        assert "action.right_hand_joints" in config.action_keys
+        # Single observation frame, 40-step action horizon
+        assert config.observation_indices == [0]
+        assert config.action_indices == list(range(40))
+
+
     def test_unitree_g1_real_alias(self):
         """The REAL_G1 embodiment tag value resolves to unitree_g1_real."""
         alias = DATA_CONFIG_MAP["real_g1_relative_eef_relative_joints"]