Humanoid Robotics Platform

A self-hosted training platform for humanoid robots, built with Rust.

Train, simulate, and deploy policies to Unitree G1/H1 humanoid robots.

Features

• Robot Management: Connect and manage Unitree G1/H1 robots
• Training Sessions: Reinforcement learning and imitation learning in simulation
• User Management: Role-based access control via Keycloak (self-hosted)
• Real-time Monitoring: WebSocket-based telemetry streaming
• Model Deployment: Push trained policies to physical robots
• Simulator Integration: Bevy + Rapier 3D physics simulation

Quick Start

1. Deploy Keycloak (Authentication)

# Docker Compose (recommended)
docker run -d --name keycloak \
  -p 8443:8443 \
  -e KEYCLOAK_ADMIN=admin \
  -e KEYCLOAK_ADMIN_PASSWORD=admin \
  quay.io/keycloak/keycloak:latest start-dev

Then configure your realm and client (see Keycloak Setup).

2. Configure Environment

cp .env.example .env

Edit .env:

# Your Keycloak instance
KEYCLOAK_URL=https://your-keycloak-server.com
KEYCLOAK_REALM=humanoid-platform
KEYCLOAK_CLIENT_ID=humanoid-web
KEYCLOAK_CLIENT_SECRET=your-client-secret

# Database
DATABASE_URL=postgres://user:pass@localhost:5432/humanoid_platform

# Application
APP_URL=http://localhost:8080
SECRET_KEY=your-secret-key-minimum-32-chars

3. Run Database Migrations

cargo run --bin migrate

4. Start the Server

cargo run --release

Platform available at http://localhost:8080

Project Structure

humanoid-platform/
├── src/
│   ├── controllers/     # HTTP request handlers
│   ├── middleware/      # Auth middleware
│   ├── models/          # Database models
│   ├── views/           # Tera templates
│   └── main.rs          # Application entry
├── config/
│   └── database/
│       └── migrations/  # SQL migrations
├── static/              # CSS, JS, images
└── Cargo.toml

Keycloak Setup

Required Realm Roles

Create these roles in your Keycloak realm:

• super_admin: Full platform access
• admin: Manage robots and training sessions
• trainer: Create and run training sessions
• viewer: View-only access

Client Configuration

Create a new client in Keycloak:

1. Client ID: humanoid-web
2. Client Protocol: openid-connect
3. Access Type: confidential
4. Valid Redirect URIs: http://your-domain/*
5. Web Origins: http://your-domain

API Endpoints

Authentication

• GET /login - Redirect to Keycloak
• GET /logout - Logout and clear session
• GET /auth/callback - OAuth callback
• GET /auth/user - Get current user info

Robots

• GET /api/robots - List user's robots
• POST /api/robots - Register new robot
• GET /api/robots/:id - Get robot details
• POST /api/robots/:id/connect - Connect to robot

Training

• GET /api/training - List training sessions
• POST /api/training - Create new session
• GET /api/training/:id - Get session details
• POST /api/training/:id/start - Start training
• POST /api/training/:id/stop - Stop training

Supported Robots

Model	Price Range	Support
Unitree G1	$16k-$70k	Full
Unitree H1	$90k-$116k	Full
Unitree R1	$9k-$31k	Planned
Custom URDF	-	SDK

Development

Prerequisites

• Rust 1.75+
• PostgreSQL 14+
• Docker (for Keycloak)
• Node.js 18+ (for Tailwind CSS)

Running Locally

# Install dependencies
cargo build

# Start Tailwind watcher
npx tailwindcss -i ./src/tailwind.css -o ./static/css/output.css --watch

# Run server
cargo run

Running Tests

cargo test

Building for Production

cargo build --release

Deployment

Docker

docker build -t humanoid-platform .
docker run -p 8080:8080 --env-file .env humanoid-platform

Kubernetes

Helm chart coming soon.

License

MIT OR Apache-2.0

Support

• Documentation: docs.humanoid-platform.dev
• Issues: GitHub Issues
• Discord: Coming soon

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Built by Evolving Software for the robotics community.