robot-openhumanoid

Onboard bridge for the Unitree G1 robot. Runs the HTTP bridge server and NVIDIA GR00T WBC control loop natively on the Jetson Orin NX — no Docker, no laptop required for motor control.

Part of OpenHumanoid. This repo contains only the code that runs on the robot. The voice client, capability stack, and OpenClaw agent stay on the laptop (or wherever you run them) and talk to this bridge over HTTP.

Architecture

Laptop (WiFi)                         Robot (Jetson Orin NX)
┌──────────────────┐                  ┌──────────────────────────────────┐
│ Voice Client     │── HTTP ────────→ │ this repo                        │
│ (realtime/ or    │   /move          │                                  │
│  openclaw/)      │   /stop          │ bridge/run_with_bridge.py        │
│                  │   /activate      │ ├─ HTTP server :8765             │
│                  │   /status        │ └─ WBC neural network policy     │
└──────────────────┘                  │       ↓ direct DDS (local)       │
                                      │    Motor control board           │
                                      └──────────────────────────────────┘

Setup (one-time)

SSH into the robot and clone this repo:

git clone <this-repo-url> ~/robot-openhumanoid
cd ~/robot-openhumanoid
bash scripts/setup.sh

This installs ROS2 Humble, clones GR00T-WholeBodyControl, and creates a Python virtualenv with all WBC dependencies.

Launch

# On the robot
cd ~/robot-openhumanoid
./scripts/start.sh

Verify from your laptop:

curl http://192.168.123.164:8765/status

Connect from laptop

Point the OpenHumanoid voice client at the robot's bridge:

# In the main OpenHumanoid repo on your laptop
BRIDGE_URL=http://192.168.123.164:8765 uv run python -m realtime.main

Or set BRIDGE_URL=http://192.168.123.164:8765 in your .env.

HTTP API

Method	Endpoint	Body	Description
POST	/move	{"vx": 0.4, "vy": 0.0, "vyaw": 0.0}	Set velocity on WBC policy
POST	/stop	—	Zero all velocities
POST	/activate	—	Activate walking policy
POST	/deactivate	—	Deactivate policy
POST	/key	{"key": "9"}	Send raw key event
POST	/arm/pose	{"active_arm":"right", "wrist_pose":[...7...]}	Arm IK control
POST	/hand/command	{"active_arm":"right", "posture":"grasp"}	Hand open/close
POST	/manipulation/pick_sequence	{pregrasp_pose, grasp_pose, retreat_pose, ...}	Staged pick pipeline
GET	/status	—	Current state

Configuration

Variable	Default	Description
BRIDGE_PORT	8765	HTTP server port
BRIDGE_WITH_HANDS	0	Set to 1 to enable hand endpoints
WBC_DIR	~/GR00T-WholeBodyControl/decoupled_wbc	Path to WBC source
WBC_VENV	~/wbc_venv	Python virtualenv for WBC deps

Files

robot-openhumanoid/
├── bridge/
│   └── run_with_bridge.py    # HTTP bridge + WBC control loop (single process)
├── scripts/
│   ├── setup.sh              # One-time Jetson setup
│   └── start.sh              # Launch bridge + WBC
├── .gitignore
├── LICENSE
└── README.md

License

MIT