GR00T¶

uv pip install "strands-robots[groot-service]"

from strands_robots.policies import create_policy

# Service mode (container running separately)
policy = create_policy("groot", port=5555, data_config="so100_dualcam")

# Local mode (load model in-process)        # requires GPU
policy = create_policy("groot", model_path="/checkpoint", data_config="so100_dualcam", device="cuda")

Parameters¶

Gr00tPolicy(
    data_config="so100_dualcam",    # embodiment config (required)
    host="localhost",
    port=5555,
    model_path=None,                # set for local mode; None = service mode
    embodiment_tag="NEW_EMBODIMENT",
    device="cuda",                  # local mode only
    groot_version=None,             # override auto-detection (N1.5/N1.6/N1.7)
    strict=False,
    api_token=None,                 # fallback: GROOT_API_TOKEN env var
    observation_mapping=None,
    action_mapping=None,
    language_key=None,
    strict_keys=False,             # raise instead of positional key-guessing
)

Strict key matching¶

When no explicit observation_mapping/action_mapping is given, GR00T auto-infers the robot<->model key mapping: exact name matches first, then positional fallback for any leftover keys (with a log line). On a multi-camera or multi-DOF rig, positional fallback can silently bind the wrong camera or action column. Pass strict_keys=True to raise a ValueError (listing the unmatched robot keys vs available model keys) instead of guessing:

policy = create_policy("groot", data_config="so100_dualcam",
                       model_path="nvidia/GR00T-N1.6-3B", strict_keys=True)

strict_keys defaults to False (positional fallback preserved) and is a no-op when an explicit mapping is supplied.

Versions¶

Version	Transport	Notes
GR00T N1.5	ZMQ	`(K, ...)` observation shape
GR00T N1.6	ZMQ	`(K, ...)` observation shape
GR00T N1.7	ZMQ	`(B, T, ...)` float32; auto-detected

27 data_configs¶

so100               so100_dualcam          so100_4cam
so101               so101_dualcam          so101_tricam
bimanual_panda_gripper                     single_panda_gripper
libero_panda        oxe_droid              oxe_widowx
oxe_google          fourier_gr1_arms_only  fourier_gr1_arms_waist
fourier_gr1_full_upper_body
unitree_g1          unitree_g1_full_body   unitree_g1_locomanip
unitree_g1_real     unitree_g1_sonic
agibot_*            galaxea_r1_pro

Container lifecycle¶

from strands_robots.tools import gr00t_inference

gr00t_inference(action="build_image",         tag="gr00t-n1.7:latest")
gr00t_inference(action="download_checkpoint", model_id="nvidia/GR00T-N1.7-3B")
gr00t_inference(action="start_container",     tag="gr00t-n1.7:latest",
                                              model_id="nvidia/GR00T-N1.7-3B",
                                              data_config="so100_dualcam")
# ... run policy ...
gr00t_inference(action="stop", container_name="gr00t-inference")  # stop only
gr00t_inference(action="lifecycle", lifecycle="teardown",
                container_name="gr00t-inference",
                remove_volumes=True)  # stop + remove container (and volumes)