Robot Docs

Robotics simulation and perception stack for the Unitree G1 humanoid robot using Isaac Sim, Isaac ROS, and a custom workstation.

Getting Started Current Progress

Architecture

Data flow diagrams for simulation and real G1 robot modes. View architecture →

Isaac Sim

Isaac Sim 5.1 and Isaac Lab 2.3.2 setup, ROS 2 bridge. View docs →

Isaac ROS

GPU-accelerated perception: AprilTag, cuVSLAM, nvblox. View docs →

Workstation

Hardware specs, GPU config, X11 display setup. View docs →

Networking

Tailscale VPN, topology, NAT troubleshooting. View docs →

Blog

Daily progress and lessons learned. Read blog →