# GR00T-WholeBodyControl
**Source:** https://github.com/NVlabs/GR00T-WholeBodyControl
**Fetched:** 2026-02-13
**Type:** GitHub Repository

---

## Description

GR00T-WholeBodyControl is NVIDIA's open-source software stack for loco-manipulation experiments across multiple humanoid platforms, with primary support for the Unitree G1. The repository provides whole-body control policies, a teleoperation stack, and a data exporter. It is part of the broader NVIDIA Isaac GR00T ecosystem for humanoid robot foundation models.

## Key Features / Contents

- **Whole-Body Control Policies**: Coordinated control enabling simultaneous locomotion and manipulation across all degrees of freedom
- **Teleoperation Stack**: Interfaces with Pico VR controllers for synchronized hand and body command generation; also supports LeapMotion, HTC Vive, and Nintendo Switch controllers
- **Data Exporter**: Facilitates collection and logging of trajectory data during teleoperated demonstrations for downstream learning
- **Docker-based Deployment**: Containerized environment with all dependencies pre-packaged from the nvgear Docker registry
- **Simulation and Real Robot Support**: Can run in simulation or on real hardware with a single flag change
- **Deployment Helper**: `deploy_g1.py` script orchestrates the full stack (control, teleoperation, camera streaming) across coordinated tmux sessions

## G1 Relevance

This is one of the most important repositories for G1 whole-body control. Key G1-specific details:

- **Primary platform**: The G1 is the primary supported humanoid robot
- **Pre-trained models**: Ships with models already trained on in-the-wild Unitree G1 datasets using the `UNITREE_G1` embodiment tag
- **Real robot deployment**: Requires static IP configuration (192.168.123.222) per Unitree developer guidelines
- **LeRobot integration**: The GR00T locomotion controller can be launched through LeRobot using `nepyope/GR00T-WholeBodyControl_g1`

## Installation / Usage

### System Requirements
- Ubuntu 22.04
- NVIDIA GPU with current drivers
- Docker with NVIDIA Container Toolkit for GPU access

### Setup
```bash
git clone https://github.com/NVlabs/GR00T-WholeBodyControl.git
# Install Git LFS
./docker/run_docker.sh --install --root
```

### Running in Simulation
```bash
python gr00t_wbc/control/main/teleop/run_g1_control_loop.py
```

### Running on Real Robot
```bash
# Configure static IP: 192.168.123.222
python gr00t_wbc/control/main/teleop/run_g1_control_loop.py --interface real
```

### Teleoperation (runs alongside control loop)
```bash
python gr00t_wbc/control/main/teleop/run_teleop_policy_loop.py
```

### Full Stack Deployment
```bash
python scripts/deploy_g1.py
```

## Codebase Structure

- `gr00t_wbc/` - Core control logic
- `docker/` - Containerization and deployment
- `scripts/` - Deployment and utility scripts
- External Unitree SDK bindings included
- Languages: Python (84.9%), C++ (6.7%), C (6.1%)

## Related Resources

- [NVIDIA Isaac GR00T](https://github.com/NVIDIA/Isaac-GR00T) - Parent project and foundation model
- [WBC-AGILE](https://github.com/nvidia-isaac/WBC-AGILE) - NVIDIA's agile whole-body control variant
- [LeRobot G1 Integration](https://huggingface.co/docs/lerobot/unitree_g1) - Uses GR00T-WBC as locomotion backend