robotic-grounding-whole-body

name

robotic_grounding_whole_body

description

Pointer skill for the robotic_grounding G1 WHOLE-BODY humanoid pipeline (SONIC controller + RL residuals). Orients the user on the two reference-motion sources and the SonicG1 Isaac Lab tasks, then points at the authoritative source READMEs for exact commands. Use this skill whenever the user works with the G1 humanoid or whole-body motion: "retarget SOMA to G1", "run the whole-body planner", "SonicG1", "ReconBody / ReconHand", "train the G1 whole-body policy", "g1_planner", "whole-body eval", or mentions the G1 robot / SONIC controller. For the floating-hand (Sharpa Wave / Dex3) pipeline use robotic_grounding_run; for failures use robotic_grounding_doctor.

robotic_grounding — 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).