G1 Decoupled

Whole-body G1 tasks collected by VR teleoperation through the GR00T decoupled whole-body control stack. They run on SonicLocoManipEnv with the g1_sonic robot: the operator’s upper-body pose is retargeted by IK while the whole-body controller keeps balance and handles locomotion.

See GR00T Decoupled Wholebody for the teleoperation, replay and evaluation workflow.

python -m simple.cli.teleop_decoupled_wbc simple/G1WholebodyOpenTrashCanTeleop-v0 \
  --sim-mode=mujoco --record --no-headless

Environments (12)

Alongside pick, place and handover, this set covers the articulated-object and non-prehensile skills that motion planning cannot synthesize — opening a trash can, oven or faucet, closing a door, and pushing an office chair.

  • simple/G1WholebodyBendHandoverTeleop-v0

  • simple/G1WholebodyBendPickAndPlaceTeleop-v0

  • simple/G1WholebodyBendPickTeleop-v0

  • simple/G1WholebodyCloseDoorTeleop-v0

  • simple/G1WholebodyHandoverTeleop-v0

  • simple/G1WholebodyLocomotionPickBetweenTablesTeleop-v0

  • simple/G1WholebodyOpenFaucetTeleop-v0

  • simple/G1WholebodyOpenOvenTeleop-v0

  • simple/G1WholebodyOpenTrashCanTeleop-v0

  • simple/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0

  • simple/G1WholebodyPushOfficeChairTeleop-v0

  • simple/G1WholebodyXMovePickTeleop-v0