Current Progress
In Progress
Section titled “In Progress”Isaac ROS Dockerfile
Section titled “Isaac ROS Dockerfile”Status: Full NVIDIA base image pulled, plan ready, awaiting Dockerfile creation.
Replacing hand-built isaac_ros_dev_container (19.8 GB, docker commit) with a reproducible Dockerfile.
- Base image:
nvcr.io/nvidia/isaac/ros:noble-ros2_jazzy_d3e84470d576702a380478a513fb3fc6-amd64(pulled Feb 8, 2026) - Custom additions: Isaac ROS perception packages (AprilTag, cuVSLAM, nvblox), H.264 NVENC transport, FastDDS fix, entrypoint scripts
- Full plan: Dockerfile Plan
Next Steps
Section titled “Next Steps”Isaac Sim MCP Server
Section titled “Isaac Sim MCP Server”Control Isaac Sim from Claude Code via MCP. Plan exists, needs path updates for pip-installed Isaac Sim 5.1.
Performance Tuning to 60fps
Section titled “Performance Tuning to 60fps”- Lower viewport resolution (1280x720 -> 960x540)
- Reduce physics solver iterations (4 -> 2)
- Disable unnecessary rendering (reflections, translucency, AO)
- Set physics CPU threads to 1
Privacy Scanner
Section titled “Privacy Scanner”GitHub Actions workflow to scan commits for leaked credentials before they reach the public repo.
Completed
Section titled “Completed”- Workstation OS upgrade from Ubuntu 22.04 to 24.04 (Feb 2026)
- Isaac Sim migration from standalone to pip install (Feb 2026)
- System ROS 2 removal (conflicted with Isaac Sim’s Python 3.11)
- Isaac ROS container with AprilTag + Foxglove + H.264 NVENC
- Tailscale peer relay setup (tsrelay in Toronto)
- Architecture documentation for sim + real G1 workflows
- Full NVIDIA Docker image pulled for container migration