Isaac Sim

Simulation and Control with OM1

System Requirements

Component	Minimum	Good	Ideal
OS	Ubuntu 20.04 / 22.04 Windows 10 / 11	Ubuntu 20.04 / 22.04 Windows 10 / 11	Ubuntu 20.04 / 22.04 Windows 10 / 11
CPU	Intel Core i7 (7th Gen) AMD Ryzen 5	Intel Core i7 (9th Gen) AMD Ryzen 7	Intel Core i9, X-series or higher AMD Ryzen 9, Threadripper or higher
Cores	4	8	16
RAM	32 GB	64 GB	64 GB
Storage	50 GB SSD	500 GB SSD	1 TB NVMe SSD
GPU	GeForce RTX 3070	GeForce RTX 4080	RTX Ada 6000
VRAM	8 GB	16 GB	48 GB

Features

• Isaac Sim: Realistic physics simulation of the Unitree Go2.

• Navigation Stack (Nav2): Fully configured navigation stack for autonomous movement.

• SLAM: Mapping capabilities using slam_toolbox.

• LiDAR Support: Simulation of Velodyne VLP-16 and Unitree 4D LiDAR.

Simulation Instructions

To get started with Isaac Sim and Unitree SDK, please install cyclonedds and ROS2 Humble first.

Install cyclonedds from this link or follow the instructions below.

sudo apt-get install git cmake gcc

git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=$HOME/Documents/GitHub/cyclonedds/install ..
cmake --build . --target install

To install ROS2 Humble, go to this link. Follow the steps under Setup Sources.

Now, run

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

This will install ROS and all the relevant packages.

To install compilers and other tools to build ROS packages, run

sudo apt install ros-dev-tools

Install the following additional dependencies

sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo apt install ros-humble-rosidl-generator-dds-idl

Set up your environment by sourcing the following file.

source /opt/ros/humble/setup.bash

If you don't have uv installed, use the following command to install it on your system.

curl -LsSf https://astral.sh/uv/install.sh | sh

Use this CycloneDDS configuration. It uses lo as the network interface. We recommend that you export this in your .bashrc or equivalent configuration file cyclonedds.xml.

To add it to cyclonedds.xml:

cd cyclonedds
vi cyclonedds.xml

Add the following, then save and exit.

<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
        </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>

Open your bashrc file

vi ~/.bashrc

Add the following, replacing /path/to/cyclonedds with the actual path to your CycloneDDS installation:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=/path/to/cyclonedds/cyclonedds.xml

Apply the changes

source ~/.bashrc

To add the config to your bashrc, run:

vim ~/.bashrc

And add the following, replacing /path/to/cyclonedds with the actual path to your CycloneDDS installation:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='
<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
        </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>'

Now run

source ~/.bashrc

This will apply the latest changes in the current shell session.

Check if you have rosdep installed by running rosdep or rosdep --version. If it is not installed, run the following:

sudo apt-get update
sudo apt-get install python3-rosdep

Once you've successfully completed above steps, follow the following steps to start the Isaac Sim simulation with OM1.

Step 1: Clone the OM1-ros2-sdk repository:

git clone https://github.com/OpenMind/OM1-ros2-sdk.git

Step 2: Install all the necessary dependencies:

cd OM1-ros2-sdk
uv venv
sudo rosdep init
rosdep update
rosdep install --from-paths . --ignore-src -r -y
source .venv/bin/activate
uv pip install .

Export the python path to your virtual environment

export PYTHONPATH=$PYTHONPATH:$(pwd)/.venv/lib/python3.10/site-packages

Step 3: Build all the packages:

colcon build

Step 4: Install Isaac Sim

cd unitree/isaac_sim

uv venv --python 3.11 --seed env_isaacsim

source env_isaacsim/bin/activate

# note that here we are installing IsaacSim 5.1
pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com

# install the following or another CUDA-enabled PyTorch build that matches your system architecture

pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128

# after installation, run the following to test successful installation
isaacsim

If the previous command ran with no issues, Isaac Sim was installed successfully.

Step 5: Now, let's get our system ready to run OM1 with Isaac Sim. Open a terminal and run the following commands.

To run the script, export the following

Note: a trained policy is required, which should contain the policy.pt, env.yaml, and deploy.yaml files

export ROS_DISTRO=humble
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:PATH_TO_VENV/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.ros2.bridge/humble/lib

Note: Make sure to replace PATH_TO_VENV with the actual path to your virtual environment

We support Isaac Sim for Unitree Go2 and G1. To run the simulation for Go2, run

source env_isaacsim/bin/activate
python3 run.py # using default policy
python3 run.py --policy_dir YOUR_POLICY_DIR # using your own policy

To run the simulation for G1, run

source env_isaacsim/bin/activate
python3 run.py --robot_type g1 # using default policy
python3 run.py --robot_type g1 --policy_dir YOUR_POLICY_DIR # using your own policy

You'll now be able to see Isaac Sim running on your system.

Step 6: Open a new terminal and run:

source install/setup.bash
ros2 launch go2_sdk sensor_launch.py use_sim:=true

This will bring up the om/path topic, enabling OM1 to understand the surrounding environment.

Step 7: Open a new terminal and run:

source install/setup.bash
ros2 launch orchestrator orchestrator.py use_sim:=true

This will bring up the orchestrator, to consume data collected by om1_sensor for SLAM and Navigation.

Step 8: Run Zenoh Ros2 Bridge

To run the Zenoh bridge for the Unitree Go2, you need to have the Zenoh ROS 2 bridge installed. You can find the installation instructions in the Zenoh ROS 2 Bridge documentation

After installing the Zenoh ROS 2 bridge, you can run it with the following command:

zenoh-bridge-ros2dds -c ./zenoh/zenoh_bridge_config.json5

Step 9: Start OM1

Refer to the Installation Guide for detailed instructions.

Then add the optional Python CycloneDDS module to OM1, run

uv pip install -r pyproject.toml --extra dds

Setup your API key in .bashrc file and run your simulation agent:

Get your API key from the portal, and add it to bashrc

vi ~/.bashrc

export OM_API_KEY="<your_api_key>"

Now, run the simulation agent

uv run src/run.py simulation

Congratulations! You have launched Isaac Sim with OM1 successfully.

Control Methods

When keyboard control is enabled (default), use the following keys:

Key	Action
↑ or Numpad 8	Move forward
↓ or Numpad 2	Move backward
← or Numpad 4	Strafe left
→ or Numpad 6	Strafe right
N or Numpad 7	Rotate left
M or Numpad 9	Rotate right

Note: We don't have auto charging feature supported with Isaac Sim but it will be launched soon. Stay tuned!