# LeRobot + GR00T-WBC Integration for Unitree G1
**Source:** https://huggingface.co/docs/lerobot/unitree_g1
**Fetched:** 2026-02-13
**Type:** GitHub Repository / Documentation

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## Description

LeRobot (by HuggingFace) provides first-class support for the Unitree G1 humanoid robot, integrating NVIDIA's GR00T-WholeBodyControl as a locomotion backend. The integration enables end-to-end workflows from robot connection to running whole-body control policies, data collection, and imitation learning. Unitree also maintains a separate `unitree_IL_lerobot` fork that extends LeRobot with G1-specific data collection and training pipelines.

## Key Features / Contents

### LeRobot G1 Integration (HuggingFace Official)
- **G1 Robot Class**: Handles low-level read/write operations to/from the humanoid
- **ZMQ Socket Bridge**: Remote communication and camera streaming over WLAN, Ethernet, or directly on-robot
- **Locomotion Policies**: Supports NVIDIA GR00T and Amazon FAR Holosoma controllers
- **MuJoCo Simulation Mode**: Test policies without physical robot by setting `is_simulation=True`
- **Dual DOF Support**: Both 29-DOF and 23-DOF G1 EDU versions supported

### Unitree IL LeRobot (Unitree Official Fork)
- **Multiple End-Effectors**: Dex1, Dex3, Brainco, and Inspire1 dexterous hands
- **Data Conversion**: Transforms Unitree native JSON format into LeRobot v3.0 dataset structure
- **Policy Architectures**: ACT, Diffusion, Pi0, Pi05, and GR00T policies
- **Real-world Evaluation Pipeline**: Scripts for testing trained policies on physical robots
- **IsaacLab Simulation**: Integration with unitree_sim_isaaclab for virtual validation

## G1 Relevance

This is the primary imitation learning framework for G1 manipulation and locomotion tasks.

### Connection Setup
- G1 Ethernet IP fixed at `192.168.123.164`
- SSH credentials: `unitree@192.168.123.164` (password: `123`)
- WiFi can be enabled on the G1's Orin for wireless operation

### Architecture
1. **Robot Server** runs on the G1's Jetson Orin (`run_g1_server.py`)
2. **Remote Client** runs on workstation, sends control commands via ZMQ
3. **Locomotion Controller** wraps GR00T-WBC or Holosoma policies

## Installation / Usage

### On the G1 Robot (Orin)
```bash
ssh unitree@192.168.123.164
conda create -y -n lerobot python=3.10
conda activate lerobot
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e '.[unitree_g1]'
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python && pip install -e .

# Start robot server (keep running)
python src/lerobot/robots/unitree_g1/run_g1_server.py
```

### On Workstation
```bash
conda create -y -n lerobot python=3.10
conda activate lerobot
git clone https://github.com/huggingface/lerobot.git
cd lerobot
pip install -e '.[unitree_g1]'
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python && pip install -e .

# Update robot IP in config
# Edit src/lerobot/robots/unitree_g1/config_unitree_g1.py
# Set robot_ip to your robot's WiFi IP

# Run GR00T locomotion
python examples/unitree_g1/gr00t_locomotion.py --repo-id "nepyope/GR00T-WholeBodyControl_g1"

# Run Holosoma locomotion
python examples/unitree_g1/holosoma_locomotion.py
```

### Unitree IL LeRobot Data Pipeline
1. **Collection**: Use `avp_teleoperate` tool for teleoperated data gathering
2. **Organization**: Sort and rename episodes sequentially (episode_0, episode_1, ...)
3. **Conversion**: Transform JSON to LeRobot v3.0 format with robot-specific configs
4. **Training**: Train policies (ACT, Diffusion, Pi0, GR00T) on standardized datasets
5. **Evaluation**: Test on real robots or IsaacLab simulation

### Dependencies
- Python 3.10
- Unitree SDK2 Python (requires CycloneDDS v0.10.2)
- FFmpeg 7.1.1 (for video processing)
- Pinocchio (for kinematics)

## Related Resources

- [LeRobot G1 Docs](https://huggingface.co/docs/lerobot/unitree_g1)
- [unitree_IL_lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot) - Unitree's official LeRobot fork
- [GR00T-WholeBodyControl](https://github.com/NVlabs/GR00T-WholeBodyControl) - Locomotion backend
- [Amazon FAR Holosoma](https://github.com/amazon-far/holosoma) - Alternative locomotion controller
- [lerobot/unitree-g1-mujoco](https://huggingface.co/lerobot/unitree-g1-mujoco) - MuJoCo model on HuggingFace
- [Unitree SDK2 Python](https://github.com/unitreerobotics/unitree_sdk2_python) - Low-level robot communication

*Last updated in source documentation: December 2025*