roboticgrounding — Whole-Body (G1 / SONIC) Pointer

The G1 whole-body humanoid pipeline (SONIC controller + RL residuals) is separate from the floating-hand (Sharpa/Dex3) pipeline and is only lightly covered in this release. This skill orients you and hands off to the authoritative source docs for exact commands.

Authoritative references (read these for commands):

• Tasks / environments / training / eval: source/robotic_grounding/robotic_grounding/tasks/v2d_whole_body/README.md
• EE → whole-body planner: source/robotic_grounding/robotic_grounding/planner/README.md

For the floating-hand pipeline, use robotic_grounding_run instead.

Two sources of G1 reference motion

Ask which the user has / wants — it determines the task and the docs to open:

Source	Entry point	Feeds task	Notes
SOMA → G1 (body-accurate, mocap/video reconstruction)	scripts/retarget/soma_to_g1.py	SonicG1-ReconBody-v0	Direct whole-body retarget
EE → whole-body planner (from V2D floating-hand output)	python -m robotic_grounding.planner.g1_planner	SonicG1-ReconHand-v0	Learned motion model; v0.2 has known foot-skating artifacts

Registered G1 tasks

Task ID	Reference source	Notes
SonicG1-v0	—	Base env; reward weights zeroed. Scaffold for custom reward configs, not train-ready as-is
SonicG1-ReconBody-v0	SOMA→G1	Body-accurate tracking
SonicG1-ReconHand-v0	planner	Hand-accurate tracking
SonicG1-ReconHand-EpisodeTimeout-v0	planner	ReconHand with a fixed episode-length timeout

How to help

• Confirm the reference source and matching task from the tables above.
• For exact retarget/plan/replay/support/train/eval commands, open the source README that matches the stage (task README for RL + eval; planner README for the EE-planner). Don't invent commands here — those READMEs are the source of truth.
• Same host/container split as the rest of the repo: whole-body scripts run inside the robotic-grounding container (wrap from the host with ./workflow/run.sh exec latest 0 -- <cmd>).
• RL uses the shipped scripts/rsl_rl/train.py / eval.py with a SonicG1-* --task. The task README also shows an experiments/run_experiment.py runner, but experiments/ is not shipped in this release.
• On failure, hand off to robotic_grounding_doctor (its Isaac/GPU/asset sections apply to G1 too).