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 path, SONIC runs the controller as an external process, which shapes how replay and rendering work.

• Setup
  • Platform
  • Install
  • Required hardware
  • Headset configuration
• Teleoperation
  • Launch
  • Stabilize and stand
  • Controls
  • Modes
  • Workflow
• Replay & Render
  • Run
  • How it works
  • Verify output
  • Troubleshooting
• Evaluation
  • 1. Start the Psi-0 server
  • 2. Run the evaluation client
  • 3. Results