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feat(g1): add PICO SONIC WebXR teleoperation
- #3721
#3721
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feat(g1): add PICO SONIC WebXR teleoperation
#3721
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feat(g1): SONIC whole-body controller as a coordinator task
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fix(g1-sonic): full blueprint verified in sim; nav stack restored
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feat(g1-sonic): rerun robot visualization config
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feat(g1-sonic): full ZMQ wire parity (Phase 4)
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feat(g1-sonic): motion-clip RPCs + models and clips in LFS
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fix(g1-sonic): drop __init__.py — dimos task dirs are namespace packages
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feat(g1-sonic): VR 3-point teleop (encoder mode 1)
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feat(g1-sonic): SONIC v1.1 checkpoint + PICO SMPL teleop wire parity
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refactor(g1-sonic): single-checkpoint build - v1.1 only
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fix(g1-sonic): declare set_velocity_command; route blueprint validation to self-hosted
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Commits on Aug 24, 2026
Merge origin/main into pim/feat/g1-sonic-wbc
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Merge branch 'main' into pim/feat/g1-sonic-wbc
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feat(g1-sonic): staged floor transitions + per-mode planner params
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Merge remote-tracking branch 'origin/pim/feat/g1-sonic-wbc' into pim/feat/g1-sonic-wbc
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feat(g1-sonic): crawl replans at 0.2s (C++ replan_interval_crawling_)
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Drop the ZMQ wire from the SONIC task
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Merge branch 'main' into pim/feat/g1-sonic-wbc
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Fix CI: section markers and all_blueprints ordering
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Merger: establish protocol version once per stream
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Commits on Sep 10, 2026
feat(teleop): add PICO WebXR body tracking
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refactor(teleop): rename Quest integration to WebXR
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Delete docs/research/pico-webxr-body-tracking.md
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docs(teleop): preserve Pico WebXR tracking handoff
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fix(teleop): accept PICO controller button layout
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Delete docs/research/pico-webxr-body-tracking.md
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fix(webxr): simplify PICO input handling
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refactor(teleop): finish WebXR naming cleanup
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test(webxr): cover mixed message dispatch
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spec: remove
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fix(webxr): reject short controller packets
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fix(webxr): preserve current manipulation model configuration
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test(webxr): isolate body monitor timing
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Merge current SONIC controller dependency into rebased WebXR stack
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feat(g1): add PICO SONIC WebXR teleoperation
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fix(g1): align SONIC hardware lifecycle
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feat: sonic tuning
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feat(g1): add selectable sonic teleop pipelines
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fix(g1): align sonic teleop with cli lifecycle
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feat(g1): add JetPack 5 sonic GPU setup
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fix(g1): constrain sonic JetPack 5 environment
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fix(g1): use pinned Eigen for sonic ORT build
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fix(g1): fetch pinned Eigen checkout for ORT
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fix(g1): invalidate stale sonic ORT builds
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fix(g1): install prebuilt JetPack sonic runtime
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fix(g1): run sonic environment on Python 3.11
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fix(g1): install runnable JetPack sonic environment
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fix(g1): align WebXR poses with SONIC
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feat(g1): smooth sonic pose handoff
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feat(g1): add official SONIC pipeline profiles
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fix(g1): run Jetson clock probe with sudo
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fix(g1): smooth sonic planner handoff
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feat(g1): move sonic control path to zenoh
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fix(g1): bound sonic webxr pose latency
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fix(g1): recover sonic pose stream gaps
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fix(sonic): reconcile teleop integration with current dependencies
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chore(sonic): satisfy repository formatting checks
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refactor(webxr): finish repository-wide Quest naming cleanup
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Merge branch 'cc/feat/pico-support' into cc/feat/pico-bodypose
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Merge branch 'cc/feat/pico-bodypose' into cc/feat/pico-teleop-sonic
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Commits on Sep 11, 2026
Merge main and regenerate the WebXR blueprint registry
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Merge branch 'cc/feat/pico-support' into cc/feat/pico-bodypose
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Merge main and preserve WebXR naming for the moved Go2 blueprint
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Merge branch 'cc/feat/pico-support' into cc/feat/pico-bodypose
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Merge branch 'cc/feat/pico-bodypose' into cc/feat/pico-teleop-sonic
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