# Recreating a real tea station in Isaac Sim and scripting a Unitree G1 to make tea

- Source: Reddit r/robotics
- Published: 2026-10-31T02:09:50.000Z
- RoboHot: https://robohot.news/en/items/v2t1xh6y0jkmqxd7s91trxc10
- Original: https://www.reddit.com/r/robotics/comments/1xjy9f3/recreated_a_real_tea_station_in_isaac_sim_then/

## Summary

The team recreated a real self-service tea station as a physically interactive 3D environment in Isaac Sim, placed a Unitree G1 in it, and used a script to execute the five-step tea-making motion. The robot's motions were not extracted from human video; the entire run took place in simulation with physics enabled. The G1 still shows imperfect contact and slipping when interacting with objects, and there is currently no learned policy or automatic trajectory generation. The team is exploring whether such environments can serve as a source of synthetic robot demonstration data, including for robots with different embodiments.