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Working with the G1
Working with the G1

Start here

  • System map and code entry points
  • Repositories and setup

Hardware and setup

  • The lab robot
  • Dex3 pressure sensing
  • Camera and network
  • Printed targets and mounts

Control and safety

  • Ownership and safety
  • Operating and recovering

Recording and datasets

  • Recording and LeRobot
  • Inspect the shared datasets

Perception and calibration

  • Object pose estimation
  • Calibration model and workflow
  • Calibration results and limits
  • Calibration investigations
  • Body motion and state estimation

Grasping and manipulation

  • GraspGen-X and the grasp atlas
  • CuRobo integration
  • Cube stacking: integration example
  • Assembly experiments
  • Moving-target MPC

Simulation

  • MuJoCo digital twin

Reference and maintenance

  • Debugging from evidence
  • Sources and attribution
  • Code index
  • Media catalog
  • Maintaining this guide
  • Writing diagrams
  • Remaining review needs
  • About this guide
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