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Manraj Handoff

This is the starting point for continuing the Unitree G1, Vicon, Isaac Lab, and teleoperation work.

Read First

  1. G1 Current State -- the physical robot is not cleared for actuation because five left-arm joints were missing normal telemetry at the last check.
  2. Network Topology -- local SSH routes, field router, robot router, and Vicon Windows host.
  3. Vicon LAN -- Nexus and camera bring-up on the dedicated Windows computer.
  4. Unitree Simulation Stack -- repository and simulation map.

Credentials are intentionally absent from the website and Git repository. Use the private robot infrastructure secrets file supplied directly by Zeul.

Systems

System Primary role Current direction
RTX 3090 workstation Main Isaac Lab, CloudXR, RL, and MuJoCo host Quest simulation and policy work
Vicon Windows / RTX 4060 Nexus capture and secondary native-Windows Isaac Lab Mocap plus small RL smoke tests
jeffxi-ubuntu Home Assistant and lab support services Power and network operations
G1 Jetson Local DDS, cameras, and future XR bridge Read-only checks until hardware gate passes
G1 locomotion board Unitree motion services No SSH; communicate through SDK2/DDS

Active Workstreams

Quest teleoperation

Meta Quest 3 Teleoperation documents the working NVIDIA Isaac Teleop and CloudXR simulation route, the wheelchair scene, the older Unitree/Vuer experiment, and the gated real-robot path.

GEAR-SONIC

GEAR-SONIC documents the released NVIDIA whole-body controller, known-good MuJoCo startup, and the local uncommitted Vicon trajectory adapters. Preserve that dirty checkout before updating it.

Unitree RL Lab and wheelchair pushing

RL Training covers locomotion training. Wheelchair Push records the contact model, curriculum, policy experiments, and articulated CC0 wheelchair asset.

Dex3 manipulation

Dex3 ACT Manipulation records the verified single-policy three-block stacking result and the LeRobot data/training path.

Vicon and Windows Isaac Lab

Use official Nexus for the cameras. Isaac Lab on Vicon Windows documents the separate native-Windows Unitree RL Lab installation. WSL is not the Isaac Sim runtime.

Safe Default

Simulation is the default. Before any physical robot session, require support frame placement, a clear workspace, normal telemetry from every arm and hand, an R3 stop operator, a tested software stop, and explicit session authorization. Do not start a launcher merely to see whether it connects; several launchers create motor publishers during initialization.

Before Changing Repositories

Run git status --short --branch and preserve local work. In particular, GR00T-WholeBodyControl, unitree_rl_lab, xr_teleoperate, and IsaacLab-current contain project-specific changes or experiments. Do not clean, reset, pull, or rebase them as a first step.