Isaac ROS Physical AI

Application-level bringup packages for deploying whole-body control and teleoperation on humanoid robots.

Overview

Isaac ROS Physical AI provides application-level bringup packages for deploying whole-body control and teleoperation on humanoid robots.

The current release supports the Unitree G1 with:

• AGILE locomotion: Whole-body control policy for balance and walking
• Bimanual inverse kinematics: Real-time IK for both arms via cuMotion
• Finger control: Hand tracking from an XR headset
• XR teleoperation: End-effector and locomotion control via an XR headset using Isaac Teleop

Both MuJoCo simulation and real hardware are supported.

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Documentation

Please visit the Isaac ROS Documentation to learn how to use this repository.

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Packages

• isaac_ros_unitree_g1_teleop_bringup
  • Overview
  • Tutorial: Unitree G1 XR Teleop
  • API
  • Troubleshooting

Latest

Update 2026-04-30: Initial release