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Ψ₀ with SONIC — Teleoperation & Data Collection

We follow the official SONIC setup. Run all commands from the submodule root third_party/GR00T-WholeBodyControl.

Setup (on the workstation)

Fetch the LFS assets, then install the per-use-case environments with SONIC's install scripts (each creates an isolated uv venv):

git lfs pull

bash install_scripts/install_pico.sh              # .venv_teleop          — VR teleoperation
bash install_scripts/install_data_collection.sh   # .venv_data_collection — LeRobot recorder
bash install_scripts/install_mujoco_sim.sh        # .venv_sim             — MuJoCo simulation

python download_from_hf.py                         # SONIC policy + planner ONNX

For the C++ whole-body controller and the PICO VR hardware, follow SONIC's official docs:

Camera server (on the robot)

Reuse the vision conda env created in the robot Image Server setup (it already has pyrealsense2, opencv, pyzmq); just add the three remaining packages:

conda activate vision
pip install msgpack msgpack-numpy tyro

Copy the SONIC camera module from the workstation (run from the submodule root; G1 default IP 192.168.123.164):

ssh unitree@192.168.123.164 mkdir -p ~/SONIC_psi0_release/gear_sonic
scp gear_sonic/__init__.py gear_sonic/version.py unitree@192.168.123.164:~/SONIC_psi0_release/gear_sonic/
scp -r gear_sonic/camera unitree@192.168.123.164:~/SONIC_psi0_release/gear_sonic/
scp real/SONIC/realsense_server.py unitree@192.168.123.164:~/SONIC_psi0_release/

Start the server on the robot (keep it running):

conda activate vision
cd ~/SONIC_psi0_release
python -m gear_sonic.camera.composed_camera --ego-view-camera realsense --port 5555

Run

Edit ROBOT_IP / TASK at the top of the script (recording runs at 30 fps to match the camera), then:

bash ./real/SONIC/scripts/collect_psi0-sonic-data.sh sim   # MuJoCo test (no robot/camera, no recording)
bash ./real/SONIC/scripts/collect_psi0-sonic-data.sh       # real robot — records to outputs/ (LeRobot format)

Engage teleop and record per SONIC's data collection tutorial: calibration pose → A+B+X+Y → A+X, then left grip + A to start/stop an episode (left grip + B to discard).The data will be saved to third_party/GR00T-WholeBodyControl/outputs/ in LeRobot format.

No tmux? Run each component in its own terminal instead:

# sim teleop test
bash ./real/SONIC/scripts/collect_psi0-sonic-data-manual.sh sim          # MuJoCo
bash ./real/SONIC/scripts/collect_psi0-sonic-data-manual.sh deploy sim   # C++ controller (sim)
bash ./real/SONIC/scripts/collect_psi0-sonic-data-manual.sh pico         # PICO streamer
# real robot
bash ./real/SONIC/scripts/collect_psi0-sonic-data-manual.sh deploy       # C++ controller
bash ./real/SONIC/scripts/collect_psi0-sonic-data-manual.sh pico         # PICO streamer
bash ./real/SONIC/scripts/collect_psi0-sonic-data-manual.sh exporter     # data exporter (records)