WardZero: The Simulated Hospital Where Robots Train Before They Meet Patients

Hospital and surgical wing. Isaac Sim 6.0 scene, path traced. This scene is the simulation world. It joins the NVIDIA hospital ground floor to a generated surgical wing. The wing has corridors, pre-operative bays, a sterile store, a scrub room and an operating theatre. hospital-sim-env

Details

The camera moves on a scripted path. It is not a robot view.
Shots: hospital corridor, surgical corridor, two pre-operative bays, sterile store, scrub room and operating theatre.

Assets: NVIDIA Isaac for Healthcare · Lightwheel SimReady · NVIDIA Isaac Sim

Overview

WardZero is an open platform to build and test robot solutions for hospitals. It gives a complete simulated hospital, two simulators, a safety layer and navigation. Users can bring their own robot, controller or task.

The simulated hospital has a surgical wing. The wing has corridors, pre-operative bays, a recovery ward, a sterile store, a scrub room and an operating theatre. Version 2 adds a ward with en-suite rooms, a small A&E department, fire doors and bed lifts.

All parts use the low-level interface of the real robot. The controller sends motor targets on /lowcmd at 500 Hz. It reads the joint states on /lowstate. Because of this, the same software runs in MuJoCo, in Isaac Sim and on the real robot.

The reference robot is a Unitree G1 humanoid with 29 degrees of freedom and two BrainCo Revo2 hands. The repositories with the prefix hospital-sim- contain no robot-specific code. A different robot supplies its own model, simulator bindings and controller.

All tests of WardZero used simulation only. No test of the transfer from simulation to a real robot (sim-to-real) is complete yet. WardZero is in development.

What the platform supports

Test mapping and navigation in a complete hospital.
Train controllers in MuJoCo and test them in Isaac Sim.
Develop teleoperation and safety functions.
Build and test robot tasks.
Record synchronised sensor data with exact ground truth.

System architecture

One interface. The controller sends /lowcmd and receives /lowstate, as on the real robot. The simulators also publish the lidar scan, the odometry and the head camera.
One safety layer. All input sources send requests to the mode manager. The mode manager uses a control lease, a watchdog, an emergency-stop gate and speed zones.
One building. One Python layout file defines the hospital. It makes the Isaac scene and the MuJoCo walls in the same world frame. A map from one simulator is correct in the other.

Version 2.0

Version 2: closer to UK hospital guidance

Version 2 changes the hospital so that it follows UK guidance for hospital buildings more closely. Feedback on version 1 showed that lifts and fire doors are difficult for hospital robots. Version 2 adds them with physics in Isaac Sim and in MuJoCo.

The guidance comes from NHS England and the UK Government: HTM 05-02 (fire safety), HTM 08-02 (lifts), HBN 00-04 (circulation), HBN 04-01 (adult in-patient wards), HBN 15-01 (A&E) and Approved Document M (access).

Area	Guidance	What version 2 adds
Fire doors	HTM 05-02	Up to 22 fire doorsets with physics. The leaves close themselves. Magnets hold the corridor doors open and release on the fire alarm. Magnets never hold the stair doors open.
Fire compartments	HTM 05-02	The main building has three fire compartments. The surgical wing has two fire zones and a final exit to outside.
Lifts	HTM 08-02	Two pairs of bed lifts: car 1800 x 2700 mm, door 1400 mm. Each pair has a call button, door timing, a light curtain and fire recall.
Ward	HBN 04-01	A 6-bed ward. Each bedroom has an en-suite. A nurse base and two workstations with observation windows. Utility rooms, a pantry, an assisted shower and a day room.
A&E	HBN 15-01	A small A&E with its own ambulance entrance. Resus with two bays, majors cubicles, triage, minors, X-ray and a walk-in reception.
Circulation	HBN 00-04	The link corridor between the hospital and the surgical wing is now 4 m wide, so two beds can pass.
Access	Approved Document M	Door opening forces are less than 30 N. Lift buttons are between 0.9 m and 1.2 m above the floor.

Each door and lift runs the same control code in the two simulators. A robot can push a door, press a lift button and wait for the lift doors. The lidar sees the doors move. A fire-alarm topic closes all fire doors in approximately 6 seconds.

Version 2 follows the guidance for robot testing. It is not a certified design, and no fire engineer has examined it. Some items do not meet the guidance. The ward bedroom doors are 1.2 m wide, and the guidance recommends 1.55 m for beds. The A&E has no decontamination room and no children's area. The stairs have no lobbies, and the model has no upper floors. The file uk-guidance-compliance.md in hospital-sim-env lists each check and each gap.

Ward bedroom. The door at the back opens to the en-suite. — **Ward bedroom.** The door at the back opens to the en-suite.

Nurse workstation. An observation window looks into two bedrooms. — **Nurse workstation.** An observation window looks into two bedrooms.

Ward corridor. The view from the nurse base at the ward entrance. — **Ward corridor.** The view from the nurse base at the ward entrance.

A&E resus. Two bays with trolleys, monitors and crash trolleys. — **A&E resus.** Two bays with trolleys, monitors and crash trolleys.

A&E ambulance entrance. The ambulance bay has a canopy and its own lane. — **A&E ambulance entrance.** The ambulance bay has a canopy and its own lane.

A&E walk-in waiting. The walk-in reception is off the main lobby. — **A&E walk-in waiting.** The walk-in reception is off the main lobby.

Compartment fire doors. Magnets hold the doors open. The fire alarm releases them. — **Compartment fire doors.** Magnets hold the doors open. The fire alarm releases them.

Stair fire door. The door closes itself. Magnets never hold it open. — **Stair fire door.** The door closes itself. Magnets never hold it open.

Bed lifts, main building. Two bed lifts with a call button between them. — **Bed lifts, main building.** Two bed lifts with a call button between them.

Link corridor. The corridor to the surgical wing is now 4 m wide. — **Link corridor.** The corridor to the surgical wing is now 4 m wide.

Bed lifts, surgical wing. A lift lobby with a fire door to the corridor. — **Bed lifts, surgical wing.** A lift lobby with a fire door to the corridor.

Cross-corridor fire door. The door divides the wing corridor into two fire zones. — **Cross-corridor fire door.** The door divides the wing corridor into two fire zones.

Version 2 code: branch v2. Version 1.0 code: tag v1.0. Version 1.0 page: archived copy.

World

The hospital is the NVIDIA Isaac Sim hospital building. A generated surgical wing connects to its south-east door. The wing uses the operating theatre and the props of NVIDIA Isaac for Healthcare and Lightwheel SimReady.

A generator makes the scene from the layout file. A build check stops the build if furniture blocks a door. It also stops the build if two props overlap or if a prop is outside its room. The floor has one level. The corridors of the wing are 4 m wide. In version 2, fire doors close most of the wing doorways.

The scene uses a reduced copy of the assets, so it can run on an 8 GB graphics card. The light levels are calibrated, so that the white walls do not show as plain white.

Plan of the surgical wing, seen from above — Plan of the surgical wing. Top row: pre-operative bays, link corridor and recovery ward. Middle: surgical corridor. Bottom row: sterile store, scrub room and operating theatre.

Reference robot: G1 with BrainCo hands. Unitree G1 29-DoF (rev 1.0) with two 6-DoF BrainCo Revo2 hands. One generated model (URDF and MJCF) is the source for the simulators and the ROS 2 nodes. The platform is robot agnostic. A different robot supplies its own model, simulator bindings and controller. g1-brainco-description

Details

The clip shows the arm, waist and leg joints. Then it shows a close view of the two hands.
The fingers close one by one. Then the thumbs turn and the hands grip. Then the hands open.
A script sets the joint positions directly. There is no physics and no controller in this clip.

Simulation for training and test

Two simulators replace the robot. They use the same low-level interface. All the software above the controller is the same in the two simulators.

MuJoCo gives fast physics. The ROS 2 simulator node steps it at 500 Hz, and MuJoCo MJX trains the controller. Isaac Sim gives realistic rendering, a lidar and a head camera. Use it to test navigation and perception with realistic sensor data.

MuJoCo hospital world. Fast-physics version of the same hospital. A generator makes this world from the same layout file as the Isaac scene. The two worlds use the same world frame. The ROS 2 simulator node steps this world at 500 Hz. g1-mujoco-sim

Details

Brown: the building and the objects from the Isaac scene. White: the walls of the wing.
Blue: the furniture of the wing. Green: the props of the operating theatre.
The camera moves over the ground floor and the wing. It stops at the robot in the corridor.
The robot does not move in this clip. There is no physics.
These are the collision shapes (boxes). They are not the photoreal Isaac scene.

Isaac Sim backend. Same robot interface, realistic sensors. Isaac Sim gives the same low-level interface as the real robot. The controller sends /lowcmd and receives /lowstate at 500 Hz. Isaac Sim also publishes the odometry, the lidar scan and the head camera. The ROS 2 stack runs on it with no change. g1-isaac-sim

Details

Left: a third-person view of the run. Isaac Sim renders this view again from the recorded poses, with no new physics.
Top right: the head camera frames from the run.
Right: the lidar points, seen from above. Forward is up. The rings are 1 m apart.
The plot does not show the lidar points on the floor.
Bottom: the 12 leg joints from /lowstate. The top band shows the positions. The bottom band shows the torques.
The robot walks with a placeholder policy. It moves approximately 1.5 m forward. It moves back a little when it stops.
The clip shows simulated time. The run was at approximately 0.4 times real time.

Assets: NVIDIA Isaac for Healthcare · Lightwheel SimReady · NVIDIA Isaac Sim

Controller training

PPO trains the whole-body controller in MuJoCo MJX. 2048 robots train in parallel on one RTX 3070. The curriculum has three stages. Stage A teaches the robot to stand. Stage B teaches it to walk with arm targets. Stage C teaches it to follow full-body motions.

A teacher policy with privileged data trains a student policy. The student uses only the sensors of the real robot. The controller loads the student as an ONNX file. Each stage has gates. The training is not stable, so the trainer keeps the checkpoint that passes the gates.

Stage A1 is complete. The survival increased from 0.05 to 0.97 in 39 million steps. The stage took approximately one hour.

Survival against training steps for stage A1. The curve passes the 0.95 gate at 39 million steps.

Survival in stage A1 against training steps. The green ring shows the checkpoint that passed the gate.

Controller training: learn to stand. Stage A1: survival 0.05 → 0.97 in 39 million steps. PPO trains the controller in MuJoCo MJX. 2048 robots train in parallel on one RTX 3070. Stage A1 took approximately 1 hour. g1-whole-body-rl

Details

Left: the policy before training. It falls after 1.0 s.
Right: the policy after 39 million steps. It stands for the full 11 s test. The maximum tilt is 2.7 degrees.
The two policies run in standard MuJoCo. They use the same test as the training gates.
Walking (stage B) and motion tracking (stage C) are not trained yet.

Reference policy: ULTRA teacher. Third-party policy on the WardZero robot model. This clip shows the released ULTRA teacher policy on the WardZero G1 model in standard MuJoCo. It is a third-party policy with a non-commercial licence. WardZero uses it only to examine the robot model. g1-whole-body-rl

Details

Left: the robot follows a motion clip and moves a box.
Right: the robot stays upright through pushes of 200 N.
Result on 2026-10-09: approximately 90% of the clips complete. The mean body position error is approximately 5.6 cm.
These results are the same as on the original ULTRA robot.

Teleoperation and safety

The mode manager has seven modes: DAMP, STAND, LOCO, MANIP, NAV, AUTO and HOLD. HOLD stops the robot in its position. DAMP removes the power from the motors.

All input sources send requests to the mode manager, and the mode manager makes the decision. A control lease sets which source has control. A watchdog sets HOLD if the interface signal stops. A hardware emergency stop has priority over all inputs. Speed zones on the map set the maximum speed.

Webcam teleoperation controls the arms and the hands. The operator sits in front of a webcam. MediaPipe tracks the operator, and a fork of xr_teleoperate calculates the arm and finger positions. The operator does not need a VR headset.

Mode manager and keyboard teleoperation. One safety layer controls every input. The keyboard sends keys to the mode manager. The mode manager sets the robot mode and sends commands to the controller. In HOLD, it stops the robot and ignores velocity keys. The robot moves again only after an explicit resume. hospital-sim-ros2

Details

0:00 The robot starts in DAMP (motors off).
0:01 Key r: DAMP to STAND. The robot stands up.
0:06 Key l: STAND to LOCO.
0:07 Key w (held): the command is 0.5 m/s. The robot moves at approximately 0.24 m/s.
0:12 Key e: the robot turns right for 2 s. Key q stops the turn.
0:16 Key o: LOCO to HOLD. The velocity command goes to zero.
0:16 The robot makes small steps for approximately 0.2 m. Then it stops.
0:18 Key w: no effect in HOLD.
0:20 Key l: the mode manager rejects it. The operator must resume first.
0:20 Key r: HOLD to STAND (resume).
0:23 Key l: STAND to LOCO. Key w: the robot walks again.
0:28 Space: zero velocity.
0:29 Key p: LOCO to STAND.
The robot walks with a placeholder policy. It is slow, and it turns left a little.
This is a real ROS 2 run in MuJoCo at 500 Hz. A renderer makes the images again from the recorded joint positions.

Autonomy

Navigation uses standard ROS 2 packages. slam_toolbox makes the map. AMCL finds the position of the robot on the map. Nav2 with the MPPI controller plans the path and drives the robot.

Mapping and navigation. slam_toolbox makes the map while Nav2 drives. The robot moves on a route of 60 points through the hospital and the surgical wing. Nav2 plans each path on the map. slam_toolbox makes this map from the lidar during the walk. hospital-sim-ros2

Details

Speed: 750 times simulated time. The clip shows approximately 5.7 h of walking in 27 s.
Map accuracy: 99.6% of the wall cells are within 0.10 m of the Isaac ground truth.
Map coverage: the map shows 96.6% of the floor that the robot can reach.
Map colours: white is free floor, blue is a wall, dark is not seen yet.
Overlay colours: cyan is the robot path and magenta is the lidar scan. Green is the Nav2 plan and yellow is the robot.
Route points: grey is not visited, yellow is the current goal, green is complete. The robot skipped the red points.
Right: the head camera. Isaac Sim rendered these frames after the walk, from the recorded poses.
The robot walks with a placeholder policy.
The clip comes from the recorded data of the run. It is not a new simulation.

Assets: NVIDIA Isaac for Healthcare · Lightwheel SimReady · NVIDIA Isaac Sim

Repositories

The master repository, hospital-sim, contains the interface contract, the environment script and the list of component repositories. It checks out the component repositories in one folder.

Version 2 is on the v2 branch of hospital-sim, hospital-sim-env, g1-isaac-sim, g1-mujoco-sim and hospital-sim-ros2. Version 1.0 stays on the main branch, with the tag v1.0.

Repository	Contents
hospital-sim	Master repository: interface contract, environment script, component list
hospital-sim-env	Isaac Sim hospital and surgical wing, layout generator, surgical instruments
g1-brainco-description	Reference robot model: URDF, MJCF, meshes, robot specification
g1-mujoco-sim	MuJoCo version of the hospital, made from the same layout
g1-isaac-sim	Robot in the Isaac hospital: physics layer, lidar, cameras, DDS and ROS 2 bridge
g1-whole-body-rl	Controller training in MuJoCo MJX and ONNX export
hospital-sim-ros2	ROS 2 Humble packages: controller, mode manager, teleoperation, simulator node, navigation, tasks, bringup
g1-webcam-teleop	Webcam teleoperation of the arms and the hands

Status and next steps

done	Hospital and surgical wing in Isaac Sim and MuJoCo, from one layout, in one world frame
done	Low-level interface of the real robot in the two simulators, with lidar, odometry and head camera
done	Mode manager with control lease, watchdog, emergency-stop gate and speed zones
done	Keyboard and webcam teleoperation
done	Mapping and navigation
v2	Fire doors, fire compartments and bed lifts with physics in the two simulators (HTM 05-02, HTM 08-02)
v2	Ward with en-suite rooms, small A&E with an ambulance entrance, 4 m link corridor (HBN 04-01, 15-01, 00-04)
next	New SLAM survey maps of the version 2 building. The ground-truth map is up to date.
next	Remaining guidance gaps: wider bedroom doors, an A&E decontamination room and children's area, lift modes for emergency beds and theatres
partial	Controller: the training of stage A1 (stand) is complete. Distillation, export, walking and motion tracking are next.
next	Simulated patient personas: train human characters that act as patients in the simulated hospital. Researchers can then study robot-human interaction in simulation, before tests with people.
next	Data from the simulators to train and test learned world models
next	Sim-to-real transfer and tests on a real robot. All the results on this page come from simulation only.

Acknowledgements

Hospital building and simulator: NVIDIA Isaac Sim.
Operating theatre and sim-ready assets: NVIDIA Isaac for Healthcare (Apache 2.0).
Robot: Unitree G1 descriptions from unitree_ros. BrainCo Revo2 hand descriptions.
Controller design and reference: ULTRA. WardZero uses its released teacher only for tests. It has its own non-commercial licence.
Teleoperation: a fork of xr_teleoperate. MediaPipe hand and body tracking.
Physics and training: MuJoCo, MJX and Brax PPO. Navigation: slam_toolbox and Nav2.
Page layout: in the style of the Nerfies project page.

Citation

@software{bangalorekumaraswamy2026hospitalsim,
  author  = {Bangalore Kumaraswamy, Rakshith},
  title   = {hospital-sim: Master repository of a humanoid robot stack in a simulated hospital},
  year    = {2026},
  version = {2.0},
  url     = {https://github.com/Bkrakshith/hospital-sim},
  license = {Apache-2.0}
}

Disclaimer

WardZero is in development. It is research software. All tests of WardZero used simulation only. No tests on a real robot and no tests of the transfer from simulation to a real robot are complete.

WardZero is not a medical device. It is not for patient care or for a clinical procedure. It is not for the control of a real robot near people without a separate safety analysis, tests and approvals by the user.

The author supplies the software, models, data and this page "as is", with no warranty of any kind, express or implied. This includes no warranty of fitness for a purpose, safety, accuracy or non-infringement. Users use WardZero at their own risk. Users are responsible for all the work that they do with it.

To the maximum extent that the law permits, Rakshith Bangalore Kumaraswamy and the contributors are not liable for any claim, damage, injury, loss or other liability that comes from WardZero or from its use. This applies to direct, indirect, incidental and consequential damage. Refer also to sections 7 and 8 of the Apache License 2.0.