# Isaac Sim ### System Requirements | Component | Minimum | Good | Ideal | | --------- | --------------------------------------------- | --------------------------------------------- | ------------------------------------------------------------------------------- | | OS | Ubuntu 20.04 / 22.04 | Ubuntu 20.04 / 22.04 | Ubuntu 20.04 / 22.04 | | CPU |

Intel Core i7 (7th Gen)
AMD Ryzen 5

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Intel Core i7 (9th Gen)
AMD Ryzen 7

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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. You can find the installation steps [here](https://docs.openmind.com/core-concepts/middleware). To install compilers and other tools to build ROS packages, run ```bash sudo apt install ros-dev-tools ``` Install the following additional dependencies ```bash 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. ```bash source /opt/ros/humble/setup.bash ``` If you don't have uv installed, use the following command to install it on your system. ```bash curl -LsSf https://astral.sh/uv/install.sh | sh ``` Check if you have rosdep installed by running `rosdep` or `rosdep --version`. If it is not installed, run the following: ```bash 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](https://github.com/OpenMind/OM1-ros2-sdk) repository: ```bash git clone https://github.com/OpenMind/OM1-ros2-sdk.git ``` Step 2: Initialize rosdep by setting up the source list (this is only needed once per machine) > **Note:** Run 'sudo rosdep init' only if rosdep has not been initialized on this machine before. If it has, skip this line and start from 'rosdep update'. ```bash cd OM1-ros2-sdk sudo rosdep init rosdep update rosdep install --from-paths . --ignore-src -r -y ``` It automatically installs all system dependencies needed by the ROS packages in your current directory. Step 3: Build all the packages: ```bash colcon build ``` Once the build is successful, create a virtual environment and install the dependencies ```bash uv venv --python 3.10 source .venv/bin/activate uv pip install . ``` Step 4: Install Isaac Sim Open a new terminal window and switch to `unitree/isaac_sim` directory within `OM1-ros2-sdk` ```bash cd OM1-ros2-sdk/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 ```bash export ROS_DISTRO=humble export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:PATH_TO_VENV/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.ros2.bridge/humble/lib ``` > **Note:** Make sure to replace PATH\_TO\_VENV with the actual path to your virtual environment. We use `env_isaacsim` (Python 3.11) for Isaac Sim and `.venv` (Python 3.10) for other services like orchestrator due to compatibility requirements. We support Isaac Sim for Unitree Go2 and G1. To run the simulation for Go2, run ```bash source env_isaacsim/bin/activate python3 run.py # using default policy python3 run.py --policy_dir YOUR_POLICY_DIR # using your own policy ``` To run the simulation for G1, run ```bash source env_isaacsim/bin/activate python3 run.py --robot_type g1 # using default policy python3 run.py --robot_type g1 --policy_dir YOUR_POLICY_DIR # using your own policy ``` You'll now be able to see Isaac Sim running on your system. ![](https://2120135774-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Ft8vMsruGqqhYpVx9qhd5%2Fuploads%2Fgit-blob-7836c5979a5755f4b65bca9f306a4c962b0d4fbc%2Fisaac-sim.png?alt=media) Step 6: Open a new terminal , switch to base directory `OM1-ros2-sdk` and run: ```bash source install/setup.bash ros2 launch go2_sdk sensor_launch.py use_sim:=true ``` This will bring up the `om/path` topic, enabling OM1 to understand the surrounding environment. Step 7: Open a new terminal and run: ```bash export PYTHONPATH=$PYTHONPATH:$(pwd)/.venv/lib/python3.10/site-packages source install/setup.bash ros2 launch orchestrator orchestrator_launch.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 [here](https://docs.openmind.com/core-concepts/middleware/zenoh-bridge). After installing the Zenoh ROS 2 bridge, you can run it with the following command: ```bash zenoh-bridge-ros2dds -c ./zenoh/zenoh_bridge_config.json5 ``` Step 9: Start OM1 Refer to the [Installation Guide](https://docs.openmind.com/developing/1_get-started) for detailed instructions. Then add the optional Python CycloneDDS module to OM1, run ```bash 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](https://portal.openmind.com), and add it to `bashrc` ```bash vi ~/.bashrc ``` ```bash export OM_API_KEY="" ``` Now, run the simulation agent ```bash uv run src/run.py simulation ``` > **Note**: Update your agent name depending on robot type. 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!