Isaac ROS Physical AI

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 using cuMotion

• Finger control: Hand tracking from an XR headset

• XR teleoperation: End-effector and locomotion control using an XR headset with Isaac Teleop

Both MuJoCo simulation and real hardware are supported.

For a fine-tuned GR00T policy deployed end-to-end — teleoperate, record, convert to LeRobot, fine-tune GR00T N, export via LEAPP, deploy — see the Isaac for Physical AI reference workflow.

Packages

• isaac_ros_unitree_g1_teleop_bringup
  • Overview
  • Tutorial: Unitree G1 XR Teleop
  • API
  • Troubleshooting
• isaac_ros_unitree_g1_recorder
  • Overview
  • Tutorial: Record Demonstrations
  • API
  • Troubleshooting
• isaac_ros_unitree_g1_gr00t
  • Overview
  • Tutorial: Deploy a Fine-Tuned GR00T Policy
  • Real-Hardware Prerequisite Details
  • API
  • Troubleshooting
• isaac_ros_data_flywheel

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Jazzy running on Jetson or an x86_64 system with an NVIDIA GPU.

Platform	Hardware	Software	Storage	Notes
Jetson	Jetson AGX Thor	JetPack 7.1	128+ GB NVMe SSD	Simulation and real robot deployment both tested and qualified. For best performance, ensure that power settings are configured appropriately.
x86_64	Ampere or higher NVIDIA GPU Architecture with 8 GB RAM or higher	Ubuntu 24.04	32+ GB disk space available	Simulation and real robot deployment both tested and qualified. CUDA 13.0+ NVIDIA Driver 580+

Isaac ROS Environment

To simplify development, we strongly recommend leveraging the Isaac ROS CLI by following these steps. This streamlines your development environment setup with the correct versions of dependencies on all supported platforms.

Note

All Isaac ROS Quickstarts, tutorials, and examples have been designed with the Isaac ROS CLI-managed environment as a prerequisite.

Customize your Dev Environment

To customize your development environment, refer to this guide.

Updates

Date	Changes
2026-07-06	Support CloudXR runtime without Docker
2026-04-30	Initial release