Series

Groot Sonic Humanoid Wbc

The "Groot Sonic Humanoid Wbc" series has 6 parts — read them in order from part 1.

gr00tsonicwhole-body-controlPart 1

A repo-level guide to GR00T-WholeBodyControl through decoupled_wbc, gear_sonic, and gear_sonic_deploy.

6/13/202613 min read

gr00tsonichumanoidPart 2

A beginner-friendly walkthrough for SONIC MuJoCo sim2sim and Isaac Lab eval, from sample_data paths to success_rate and MPJPE targets.

6/13/202613 min read

gr00tsonicbones-seedPart 3

Convert BONES-SEED CSV/BVH to motion_lib PKLs, filter motions, and configure SONIC training paths.

6/13/202613 min read

gr00tsonictensorrtPart 4

A practical walkthrough of SONIC C++ deployment with ONNX, TensorRT, ZMQ, observation config, and visualization.

6/13/202616 min read

gr00tsonicpicoPart 5

A practical guide to SONIC PICO teleop, zmq_manager, data export, and LeRobot v2.1 datasets for VLA training.

6/13/202615 min read

grootsonicmotionbricksPart 6

Connect SONIC to MotionBricks with VQVAE, pose/root models, synthetic training, and ZMQ v4 token_state.

6/13/202614 min read