Phase 2 — Simulation Track
A simulated Chappie, driven by a real brain.
Phase 2 builds Chappie’s body in simulation and connects it to the brain. The wheeled base does not exist as physical hardware until Phase 3, so this phase is the chance to get every other part of the loop working first.
The simulated robot is a wheeled base with a humanoid torso, hosted in Isaac Sim. The model mirrors what Phase 3 will build, dimension for dimension and sensor for sensor. Classical controllers handle the low-level motor control, the same ones that will run on the real hardware in Phase 3. The brain from Phase 1 sends commands to the simulated robot over ROS2 topics, the same topics it will use for the real robot, just pointed at a different endpoint.
Milestone is “Sim Chappie”. The Phase 1 brain driving a simulated robot through the same control stack the real hardware will inherit. Voice in, simulated motion out.