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Ψ₀ with SONIC — Real-World Deployment Guide

Please run the following commands.

1. Launch the camera server on the robot (keep it running):

conda activate vision
cd ~/SONIC_psi0_release
python realsense_server.py

2. Launch the policy server on the workstation (keep it running):

bash ./scripts/deploy/serve_psi0-rtc-sonic.sh

3. Launch the whole-body controller on the robot (keep it running):

bash ./real/scripts/deploy_psi0-sonic-rtc-robot.sh

When you see "Init done." You can press the ] button to set the robot stand up. After that, you can press ENTER to start deploying the policy. When you finish the deployment, you can press ENTER again to stop the policy and set the robot back to the default pose.

4. Launch the policy client on the workstation:

bash ./real/scripts/deploy_psi0-sonic-rtc-client.sh