Hi all,
We have a Unitree G1 arriving in about four weeks. In the meantime we’re building out our use case in simulation using unitree_sim_isaaclab, so that we can hit the ground running once the hardware lands.
Where we are: we’ve scanned the objects we want to manipulate, imported them as USDC assets, and built out the surrounding environment. That part works.
Where we’re stuck: fine-motor teleoperation. Coarse reaching is fine, but precise picking and placing is much harder than we expected — we suspect the hand/arm retargeting or the IK, though we haven’t isolated it yet. We’re also still finding our feet with Isaac Sim’s physics/object properties (mass, friction, collision approximation, contact tuning) and how much of the difficulty is actually coming from there rather than from the teleop stack.
What we’re looking for: anyone who has worked on G1 teleoperation in simulation — or on dexterous manipulation in Isaac Sim more generally — and would be up for a call to exchange experience. Happy to share what we’ve figured out on the asset pipeline and environment side in return, and open to a longer-term collaboration if there’s overlap.
Even a pointer to “we hit that too, here’s what it turned out to be” would be very welcome.