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Restructure README and CONTRIBUTING for GR00T-H DX standard #1

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GR00T-H Release
NigelNelson Mar 15, 2026
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GR00T-H Release
NigelNelson Mar 15, 2026
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Restructure README and CONTRIBUTING for GR00T-H DX standard
zephyrie Mar 15, 2026
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Merge latest main into review-gtc
zephyrie Mar 15, 2026
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117 changes: 56 additions & 61 deletions CONTRIBUTING.md
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Original file line number Diff line number Diff line change
@@ -1,27 +1,45 @@
# Contributing
# Contributing to GR00T-H

Thanks for considering contributing to NVIDIA Isaac-GR00T! Please read this document to learn the various ways you can contribute to this project and how to go about doing it.
Thanks for considering contributing to GR00T-H! Please read this document to learn the various ways you can contribute to this project and how to go about doing it.

> **Note:** GR00T-H is a healthcare-focused fork of [Isaac-GR00T](https://github.com/NVIDIA/Isaac-GR00T). For the latest on the base GR00T model, general robotics features, and non-healthcare contributions, please refer to the upstream [Isaac-GR00T repository](https://github.com/NVIDIA/Isaac-GR00T). Contributions specific to healthcare robotics, the Open-H dataset, or surgical embodiments belong here.

## Signing Your Work

We require that all contributors "sign-off" on their commits. This certifies that the contribution is your original work, or you have rights to submit it under the same license, or a compatible license.

Any contribution which contains commits that are not Signed-Off will not be accepted.

To sign off on a commit you simply use the `--signoff` (or `-s`) option when committing your changes:

```bash
$ git commit -s -m "Add cool feature."
```

This will append the following to your commit message:

```
Signed-off-by: Your Name <your@email.com>
```

## Bug reports and feature requests

### Did you find a bug?

First, do [a quick search](https://github.com/NVIDIA/Isaac-GR00T/issues) to see whether your issue has already been reported.
If your issue has already been reported, please comment on the existing issue.
First, determine whether the issue is specific to GR00T-H (healthcare embodiments, Open-H dataset, surgical data pipeline) or affects the base GR00T model:

- **GR00T-H specific issues**: Search [GR00T-H issues](https://github.com/NVIDIA-Medtech/GR00T-H/issues), then [open a new issue](https://github.com/NVIDIA-Medtech/GR00T-H/issues/new) if not already reported.
- **Base GR00T issues**: Report on the upstream [Isaac-GR00T issues](https://github.com/NVIDIA/Isaac-GR00T/issues).

Otherwise, open [a new GitHub issue](https://github.com/NVIDIA/Isaac-GR00T/issues/new). Be sure to include a clear title
and description. The description should include as much relevant information as possible. The description should
explain how to reproduce the erroneous behavior as well as the behavior you expect to see. Ideally you would include a
code sample or an executable test case demonstrating the expected behavior.
Be sure to include a clear title and description with as much relevant information as possible, including how to reproduce the issue and the behavior you expect to see.

### Do you have a suggestion for an enhancement or new feature?

We use GitHub issues to track feature requests. Before you create a feature request:

* Make sure you have a clear idea of the enhancement you would like. If you have a vague idea, consider discussing
it first on a GitHub issue.
* Make sure you have a clear idea of the enhancement you would like. If you have a vague idea, consider discussing it first on a GitHub issue.
* Check the documentation to make sure your feature does not already exist.
* Do [a quick search](https://github.com/NVIDIA/Isaac-GR00T/issues) to see whether your feature has already been suggested.
* Do [a quick search](https://github.com/NVIDIA-Medtech/GR00T-H/issues) to see whether your feature has already been suggested.

When creating your request, please:

Expand All @@ -41,46 +59,46 @@ When you're ready to contribute code to address an open issue, please follow the

Then clone your fork locally with

git clone https://github.com/USERNAME/Isaac-GR00T.git
git clone https://github.com/USERNAME/GR00T-H.git

or
or

git clone git@github.com:USERNAME/Isaac-GR00T.git
git clone git@github.com:USERNAME/GR00T-H.git

At this point the local clone of your fork only knows that it came from *your* repo, github.com/USERNAME/Isaac-GR00T.git, but doesn't know anything the *main* repo, [https://github.com/NVIDIA/Isaac-GR00T.git](https://github.com/NVIDIA/Isaac-GR00T). You can see this by running
At this point the local clone of your fork only knows that it came from *your* repo, github.com/USERNAME/GR00T-H.git, but doesn't know anything the *main* repo, [https://github.com/NVIDIA-Medtech/GR00T-H.git](https://github.com/NVIDIA-Medtech/GR00T-H). You can see this by running

git remote -v

which will output something like this:

origin https://github.com/USERNAME/Isaac-GR00T.git (fetch)
origin https://github.com/USERNAME/Isaac-GR00T.git (push)
origin https://github.com/USERNAME/GR00T-H.git (fetch)
origin https://github.com/USERNAME/GR00T-H.git (push)

This means that your local clone can only track changes from your fork, but not from the main repo, and so you won't be able to keep your fork up-to-date with the main repo over time. Therefore you'll need to add another "remote" to your clone that points to [https://github.com/NVIDIA/Isaac-GR00T.git](https://github.com/NVIDIA/Isaac-GR00T). To do this, run the following:
This means that your local clone can only track changes from your fork, but not from the main repo, and so you won't be able to keep your fork up-to-date with the main repo over time. Therefore you'll need to add another "remote" to your clone that points to [https://github.com/NVIDIA-Medtech/GR00T-H.git](https://github.com/NVIDIA-Medtech/GR00T-H). To do this, run the following:

git remote add upstream https://github.com/NVIDIA/Isaac-GR00T.git
git remote add upstream https://github.com/NVIDIA-Medtech/GR00T-H.git

Now if you do `git remote -v` again, you'll see

origin https://github.com/USERNAME/Isaac-GR00T.git (fetch)
origin https://github.com/USERNAME/Isaac-GR00T.git (push)
upstream https://github.com/NVIDIA/Isaac-GR00T.git (fetch)
upstream https://github.com/NVIDIA/Isaac-GR00T.git (push)
origin https://github.com/USERNAME/GR00T-H.git (fetch)
origin https://github.com/USERNAME/GR00T-H.git (push)
upstream https://github.com/NVIDIA-Medtech/GR00T-H.git (fetch)
upstream https://github.com/NVIDIA-Medtech/GR00T-H.git (push)

Finally, you'll need to create a Python 3 virtual environment suitable for working on this project.
Finally, you'll need to create a Python 3 virtual environment suitable for working on this project.
```bash
uv pip install -e .[dev]
```

The "editable mode" comes from the `-e` argument to `pip`, and essential just creates a symbolic link from the site-packages directory of your virtual environment to the source code in your local clone. That way any changes you make will be immediately reflected in your virtual environment.
The "editable mode" comes from the `-e` argument to `pip`, and essentially just creates a symbolic link from the site-packages directory of your virtual environment to the source code in your local clone. That way any changes you make will be immediately reflected in your virtual environment.

</details>

2. **Ensure your fork is up-to-date**

<details><summary>Expand details 👇</summary><br/>

Once you've added an "upstream" remote pointing to [https://github.com/NVIDIA/Isaac-GR00T.git](https://github.com/NVIDIA/Isaac-GR00T), keeping your fork up-to-date is easy:
Once you've added an "upstream" remote pointing to [https://github.com/NVIDIA-Medtech/GR00T-H.git](https://github.com/NVIDIA-Medtech/GR00T-H), keeping your fork up-to-date is easy:

git checkout main # if not already on main
git pull --rebase upstream main
Expand All @@ -106,32 +124,23 @@ When you're ready to contribute code to address an open issue, please follow the

<details><summary>Expand details 👇</summary><br/>

Our continuous integration (CI) testing runs [a number of checks](https://github.com/NVIDIA/Isaac-GR00T/actions) for each pull request on [GitHub Actions](https://github.com/features/actions). You can run most of these tests locally, which is something you should do *before* opening a PR to help speed up the review process and make it easier for us.

First, you should run [`ruff`](https://docs.astral.sh/ruff/) to make sure you code is formatted consistently.
Many IDEs support code formatters as plugins, so you may be able to setup isort and black to run automatically everytime you save.
For example, [`black.vim`](https://github.com/psf/black/tree/master/plugin) will give you this functionality in Vim. But both `isort` and `black` are also easy to run directly from the command line.
Just run this from the root of your clone:
First, you should run [`ruff`](https://docs.astral.sh/ruff/) to make sure your code is formatted consistently:

```bash
ruff format .
ruff check --fix .
```

We also strive to maintain high test coverage, so most contributions should include additions to [the unit tests](https://github.com/NVIDIA/Isaac-GR00T/tree/main/tests). These tests are run with [`pytest`](https://docs.pytest.org/en/latest/), which you can use to locally run any test modules that you've added or changed.

For example, if you've fixed a bug in `isaac-gr00t/a/b.py`, you can run the tests specific to that module with

pytest -v tests/a/b_test.py
We also strive to maintain high test coverage, so most contributions should include additions to [the unit tests](https://github.com/NVIDIA-Medtech/GR00T-H/tree/main/tests). These tests are run with [`pytest`](https://docs.pytest.org/en/latest/), which you can use to locally run any test modules that you've added or changed.

After all of the above checks have passed, you can now open [a new GitHub pull request](https://github.com/NVIDIA/Isaac-GR00T/pulls).
After all of the above checks have passed, you can now open [a new GitHub pull request](https://github.com/NVIDIA-Medtech/GR00T-H/pulls).
Make sure you have a clear description of the problem and the solution, and include a link to relevant issues.

We look forward to reviewing your PR!

</details>

### Developer Certificate of Origin
## Full text of the DCO

```
Developer Certificate of Origin
Expand All @@ -147,25 +156,11 @@ Developer's Certificate of Origin 1.1

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
have the right to submit it under the open source license
indicated in the file; or

(b) The contribution is based upon previous work that, to the best
of my knowledge, is covered under an appropriate open source
license and I have the right under that license to submit that
work with modifications, whether created in whole or in part
by me, under the same open source license (unless I am
permitted to submit under a different license), as indicated
in the file; or

(c) The contribution was provided directly to me by some other
person who certified (a), (b) or (c) and I have not modified
it.

(d) I understand and agree that this project and the contribution
are public and that a record of the contribution (including all
personal information I submit with it, including my sign-off) is
maintained indefinitely and may be redistributed consistent with
this project or the open source license(s) involved.
```
(a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or

(b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or

(c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it.

(d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.
```
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