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129 lines
3.7 KiB
129 lines
3.7 KiB
GR00T-WholeBodyControl Documentation
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====================================
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.. image:: https://img.shields.io/badge/License-Apache%202.0%20%7C%20NVIDIA%20Open%20Model-blue.svg
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:target: resources/license.html
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:alt: License
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.. image:: https://img.shields.io/badge/IsaacLab-2.3.0-blue.svg
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:target: https://github.com/isaac-sim/IsaacLab/releases/tag/v2.3.0
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:alt: IsaacLab
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Welcome to the official documentation for **GR00T Whole-Body Control (WBC)**! This is a unified platform for developing and deploying advanced humanoid controllers.
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What is GR00T-WholeBodyControl?
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--------------------------------
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This codebase serves as the foundation for:
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- **Decoupled WBC** models used in NVIDIA Isaac-Gr00t, Gr00t N1.5 and N1.6 (see :doc:`detailed reference <references/decoupled_wbc>`)
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- **GEAR-SONIC Series**: State-of-the-art controllers from the GEAR team
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GEAR-SONIC
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----------
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.. image:: _static/sonic-preview-gif-480P.gif
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:width: 100%
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:align: center
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.. raw:: html
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<p style="margin-top: 0; margin-bottom: 1em;">
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<a href="https://nvlabs.github.io/GEAR-SONIC/"><img src="https://img.shields.io/badge/🌐_Website-GEAR--SONIC-76B900" alt="Website"></a>
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<a href="https://arxiv.org/abs/2511.07820"><img src="https://img.shields.io/badge/📄_arXiv-2511.07820-b31b1b" alt="Paper"></a>
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<a href="https://github.com/NVlabs/GR00T-WholeBodyControl"><img src="https://img.shields.io/badge/💻_GitHub-Repository-181717" alt="GitHub"></a>
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</p>
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**SONIC** is a humanoid behavior foundation model that gives robots a core set of motor skills learned from large-scale human motion data. Rather than building separate controllers for every motion, SONIC uses motion tracking as a scalable training task so a single unified policy can produce natural, whole-body movement and support a wide range of behaviors.
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🎯 Key Features:
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- 🚶 Natural whole-body locomotion (walking, crawling, dynamic movements)
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- 🎮 Real-time VR teleoperation support
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- 🤖 Foundation for higher-level planning and interaction
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- 📦 Ready-to-deploy C++ inference stack
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Quick Start: Sim2Sim
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--------------------
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Quickly test the SONIC deployment stack in MuJoCo before deploying on real hardware.
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.. raw:: html
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<video width="100%" autoplay loop muted playsinline style="border-radius: 8px; margin: 0 0 1.5em 0;">
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<source src="_static/sim2sim.mp4" type="video/mp4">
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</video>
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.. tip::
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**Get running in minutes!** Follow the :doc:`Installation <getting_started/installation_deploy>` and :doc:`Quickstart <getting_started/quickstart>` guides to see this in action on your machine.
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Documentation
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-------------
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.. toctree::
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:maxdepth: 2
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:caption: Getting Started
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getting_started/installation_deploy
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getting_started/download_models
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getting_started/quickstart
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getting_started/vr_teleop_setup
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.. getting_started/installation_training
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.. toctree::
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:maxdepth: 2
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:caption: Tutorials
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tutorials/keyboard
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tutorials/gamepad
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tutorials/zmq
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tutorials/manager
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tutorials/vr_wholebody_teleop
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.. toctree::
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:maxdepth: 2
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:caption: Best Practices
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user_guide/teleoperation
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.. user_guide/configuration
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.. user_guide/training
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.. user_guide/troubleshooting
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.. toctree::
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:maxdepth: 2
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:caption: API Reference
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.. api/index
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.. api/teleop
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.. toctree::
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:maxdepth: 2
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:caption: Reference Documentation
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references/index
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references/deployment_code
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references/observation_config
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references/motion_reference
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references/planner_onnx
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references/jetpack6
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references/decoupled_wbc
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.. toctree::
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:maxdepth: 1
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:caption: Additional Resources
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resources/citations
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resources/license
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resources/support
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.. resources/contributing
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Indices and tables
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==================
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* :ref:`genindex`
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* :ref:`modindex`
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* :ref:`search`
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