Unitree Go1 and Go2 in Isaac Sim

Implementation of Unitree Go1 and Go2 in Isaac Sim including:

• RL Controller for both quadrupeds
• Lidar, IMU, Odometry and Camera Image Data publisher via ROS2
• different Lidar configuration available (Ouster OS1 and Unitree L1)
• Quadrupeds controllable via Keyboard and ROS2 commands
• different environments (office, park, warehouse)

System requirements and installation

You need to install:

1. Ubuntu 22.04
2. Nvidia Isaac Sim 2023.1.1
3. Ros2 Humble
4. Nvidia Orbit 0.3.0

Full instruction:

After installation of Nvidia Isaac Sim 2023.1.1 and Ros2 Humble:

1. Clone this specific IsaacLab repo version: https://github.com/isaac-sim/IsaacLab/releases/tag/v0.3.1
2. Execute in ubuntu terminal:

export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-2023.1.1"
export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"

and also put it inside .bashrc file

3. Inside the root folder of Orbit repo (https://github.com/isaac-sim/IsaacLab/releases/tag/v0.3.1) execute ln -s ${ISAACSIM_PATH} _isaac_sim
4. Execute ./orbit.sh --conda
5. Execute conda activate orbit
6. Execute sudo apt install cmake build-essential
7. Execute ./orbit.sh --install
8. Execute ./orbit.sh --extra rsl_rl
9. Verify the installation using "python source/standalone/tutorials/00_sim/create_empty.py" You should be inside conda env.
10. You need to check that you have "Isaac Sim Python 2023.1.1 - New Stage*" on the top of the window.
11. Clone this repo with git clone https://github.com/... --recurse-submodules -j8 --depth=1
12. Copy the config file Unitree_L1.json (located in "Lidar config files") for the Unitree L1 LiDAR to the folder IsaacLab-0.3.1/source/data/sensors/lidar/Unitree_L1.json (if the path doesnt exists, create it)
13. Copy all material files in the isaac-sim-2023.1.1/data/material_files folder to IsaacLab_v0.3.1/source/data/material_files (if the path doesnt exists, create it)
14. Execute ./run_sim.sh (without activated conda orbit env)

Some suggestions:

1. You need to check nvidia-smi, it should work, before installing Isaac Sim
2. You need to install Miniconda and execute: conda config --set auto_activate_base false
3. Install Omniverse launcher and then install Isaac Sim.
4. You need to install ROS2 on your system and configure it: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#isaac-sim-app-install-ros

Usage

The current project was tested on Ubuntu 22.04, IsaacSim 2023.1.1 with IsaacLab 0.3.1 and Nvidia Driver Version: 550. To start the project, execute:

./run_sim.sh

You can control the quadruped robot using "WASD, Q and E" keyboard commands. Change the run_sim.sh file for Unitree Go1 or Go2 and different environments.

Select custom env

To use predifined custom envs, you need to download files from URL and place them to /envs folder. Then you can execute it modifying run_sim.sh script with --custom_env=office commands.