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GR00T-WholeBodyControl Documentation

GitHub
GEAR-SONIC Website
Paper

Getting Started

Installation (Deployment)
Downloading Model Checkpoints
Quick Start
VR Teleop Setup (PICO)

Tutorials

Motion Tracking and Kinematic Planner with Keyboard Controls
Motion Tracking and Kinematic Planner with Gamepad Controls
Streaming Motion Tracking
Interface Manager (All-In-One)
PICO VR Whole-body Teleop
Data Collection for VLA

Training

Installation (Training)
Training Guide
Training Data
Training on New Embodiments

Best Practices

Whole-body Teleoperation Guide
Troubleshooting

Reference Documentation

Reference Documentation
Configuration Guide
Coordinate Frame and Rotation Conventions
Training Code Structure
C++ Deployment Program Flow
Observation Configuration
Motion Reference Data
Kinematic Planner ONNX Model Reference
G1 JetPack 6 Flashing Guide
Decoupled WBC

Additional Resources

Citations
License
Support

Repository
Open issue

Index

By NVIDIA GEAR Team

© Copyright 2026, NVIDIA.

Last updated on Apr 14, 2026.