# SONIC Wholebody

Whole-body VR teleoperation and evaluation driven by the **SONIC** WBC policy
(`gear_sonic_deploy`), built on NVIDIA's GR00T Whole-Body Control stack. Unlike
the [GR00T Decoupled Wholebody](../decoupled-wbc/index.md) path, SONIC runs the
controller as an **external process**, which shapes how replay and rendering
work.

```{toctree}
:maxdepth: 2

setup
teleoperation
replay_render
evaluation
```