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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

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

Running in Simulation

python gr00t_wbc/control/main/teleop/run_g1_control_loop.py

Running on Real Robot

# 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)

python gr00t_wbc/control/main/teleop/run_teleop_policy_loop.py

Full Stack Deployment

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