Vision-Guided Dual-Arm Manipulation on Unitree G1

A Python perception-to-execution stack for vision-guided dual-arm pick-and-place on a Unitree G1 humanoid. The system connects RealSense/AprilTag perception, inverse kinematics, collision-aware RRT-Connect planning, and arm/hand execution on an onboard Jetson Orin NX, with no ROS at runtime.