Curobo Jetson G1

The opening guide for using cuRoboV2 on robot arms and Unitree G1, from Jetson runtime architecture to whole-body deployment boundaries.

A reproducible Jetson setup for cuRoboV2 with JetPack, uv, Python 3.11, CUDA 12.x, PyTorch, and deployment-focused checks.

How to convert a robot arm URDF into a usable cuRobo config with mesh paths, sphere fitting, self-collision ignores, clipping, and pass/fail criteria.

A practical validation guide for forward kinematics, inverse kinematics, wxyz quaternions, joint order, and frame mistakes before real robot planning.

Running pose-to-pose planning, obstacle collision, warmup, grasp approach-lift, and planner tuning for robot arms on Jetson.

Designing a ROS 2 wrapper around cuRobo with actions, lifecycle warmup, joint-state reordering, retiming, controller execution, and watchdogs.

Bringing the real world into cuRobo planning with cuboids first, depth later, timestamp discipline, filtering, TSDF/ESDF, and immutable scene snapshots.

Using cuRobo for Unitree G1 arm-only workflows with locked legs/waist, joint maps, wrist tool frames, self-collision, and command gates.

A deployment-oriented guide to Unitree G1 whole-body workflows with cuRobo extra_links, tool frames, MotionRetargeter, IK/MPC, and BVH/SOMA data.

The final guide in the series: current cuRobo issues, Jetson deployment risks, and safety checklists for robot arms and Unitree G1.