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Current Progress

What's currently in progress and what's next.

In Progress

Sim-to-Real Deployment

Trained G1-29DOF velocity policy (7200 epochs) is ready. Blocked on:

  1. Build unitree_sdk2 C++ library on workstation
  2. Compile g1_ctrl deploy binary (deploy/robots/g1_29dof/)
  3. Point config at trained policy (logs/rsl_rl/unitree_g1_29dof_velocity/2026-03-06_14-30-46/)
  4. Connect robot via ethernet and run ./g1_ctrl --network <eth>

See Deploy Guide.

Next Steps

Isaac Sim MCP Server

Control Isaac Sim from Claude Code via MCP. Plan exists, needs path updates for pip-installed Isaac Sim 5.1.

Sim Performance to 1.0x Real-Time

Currently at 0.5x RTF with headless optimizations (640x480, RaytracedLighting, no reflections/AO, physics 4/1 iterations, Fabric enabled). May need further optimization or accept RTX 3090 hardware limit.

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GitHub Actions workflow to scan commits for leaked credentials before they reach the public repo.

Completed

  • G1-29DOF locomotion policy trained with Isaac Lab — 7200 epochs, velocity policy exported to ONNX (Mar 2026)
  • Nav2 autonomous navigation with MPPI speed tuning (Feb 2026)
  • Nav2 auto-start on container boot via entrypoint script (Feb 2026)
  • Static map->odom TF, odom TF bridge, cmd_vel relay auto-start (Feb 2026)
  • Browser teleop via Foxglove joystick extension (fixed ROS2 schema build) (Feb 2026)
  • Browser teleop via teleop_twist_keyboard in tmux (Feb 2026)
  • Docs restructured from 7 tabs to 4 (Getting Started, Simulation, Infrastructure, Project)
  • ROS 2 Topics and ROS Nodes documentation pages added
  • Dockerfile updated with ROS 2 apt repo, teleop packages, entrypoints
  • Isaac ROS container rebuilt with teleop_twist_joy and teleop_twist_keyboard
  • 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
  • Isaac ROS Dockerfile created and container rebuilt (reproducible build, docker-compose managed)