cd ~/GR00T-WholeBodyControl-git.venv_data_collection/bin/pythongear_sonic/scripts/launch_data_collection.py–deploy-checkpoint policy/low_latency/model–deploy-obs-config policy/low_latency/observation_config.yaml–camera-host 192.168.123.164–task-prompt “pick up the soda can and place it in the bin” launch_data_collection.py 命令，默认使用 XRoboToolkit：PICO 把你的姿态和手柄输入发送到电脑，再由 SONIC 控制 G1。
cd ~/GR00T-WholeBodyControl-git.venv_data_collection/bin/pythongear_sonic/scripts/launch_data_collection.py–deploy-checkpoint policy/low_latency/model–deploy-obs-config policy/low_latency/observation_config.yaml–camera-host 192.168.123.164–task-prompt “pick up the soda can and place it in the bin”