Power supply for Go2 deployment + is Orin NX 16G enough?

[lorenzo0720]

Hi, thanks for open-sourcing REASAN! We've built the full deployment environment and have a few questions before powering everything on the robot.

Our hardware

• Robot: Unitree Go2 with an expansion dock (the dock takes the 28V battery and only exposes 12V/3A and 5V/3A outputs — the raw 28V is no longer accessible).
• Compute: Jetson Orin NX 16G (Seeed reComputer J401, runs on 9–19V, recommends ~60W).
• LiDAR: Livox Mid-360S.

Our problem

With the dock, we only have 12V/3A (36W) + 5V/3A (15W). This seems too little to safely power the Orin NX (which wants ~60W) and the Mid-360 together, and we're worried about brownout/reset.

Questions

1. How is your hardware powered — how do you supply the onboard compute + Mid-360 on the Go2 (battery / external / dock)?
2. Any recommendation for our power setup?
3. Is the Orin NX 16G enough to run REASAN in real time?

Thanks!