# Roboharness: Visual Reports

Auto-generated from CI on every push to `main`. Each demo runs headless in GitHub Actions and produces visual checkpoint captures for planner, tracking, and integration paths.

## MuJoCo Grasp

CPU Meshcat 3D

Scripted 2-finger gripper grasping a cube. Multi-view captures at 4 checkpoints with interactive 3D scenes.

MuJoCo inline model · 3 cameras · position control

## G1 WBC Reach

Humanoid Diff-IK CPU

Unitree G1 reaching targets with whole-body control. Pinocchio + Pink differential-IK keeps balance while both arms reach 3D targets.

MuJoCo Menagerie · 4 cameras · WbcIkController

## G1 Locomotion

Humanoid GR00T RL Walk

G1 stand → walk → stop using GR00T ONNX locomotion policies. Real 29-DOF model from HuggingFace with multi-camera captures.

LeRobot HF model · multi-camera · GrootLocomotionController

## G1 Native LeRobot (GR00T)

Humanoid API CPU GR00T RL

Official LeRobot `make_env()` factory for standardized env creation driven by GR00T Balance + Walk through `VectorEnvAdapter`.

LeRobot native · GR00T locomotion · DDS-ready

## G1 Native LeRobot (SONIC)

Humanoid API CPU SONIC

The same native LeRobot `make_env()` integration exercised with the SONIC planner for a controller-level comparison report.

LeRobot native · SONIC planner · DDS-ready

## SONIC Planner

Humanoid CPU Planner

Standalone GEAR-SONIC planner demo on the Unitree G1. Velocity commands drive full-body pose trajectories through `planner_sonic.onnx`.

1 ONNX model · 29-DOF · SonicLocomotionController

## SONIC Motion Tracking

Humanoid MoCap Tracking

GEAR-SONIC encoder+decoder tracking on the G1. Replay motion clips via latent-space tracking with real checkpoint metrics and visual captures.

2 ONNX models · 29-DOF · SonicLocomotionController