# 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

|

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](/core-concepts/middleware.md). 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=$LD_LIBRARY_PATH:PATH_TO_VENV/env_isaaclab/lib/python3.11/site-packages/isaacsim/exts/isaacsim.ros2.bridge/humble/lib ``` > **Note:** Make sure to replace PATH\_TO\_VENV with the actual path to your virtual environment. We use `env_isaacsim` (Python 3.11) for Isaac Sim and `.venv` (Python 3.10) for other services like orchestrator due to compatibility requirements. We support Isaac Sim for Unitree Go2 and G1. To run the simulation for Go2, run ```bash source env_isaacsim/bin/activate python3 run.py # using default policy python3 run.py --policy_dir YOUR_POLICY_DIR # using your own policy ``` To run the simulation for G1, run ```bash source env_isaacsim/bin/activate python3 run.py --robot_type g1 # using default policy python3 run.py --robot_type g1 --policy_dir YOUR_POLICY_DIR # using your own policy ``` You'll now be able to see Isaac Sim running on your system. ![](/files/W3sa2RB6TtSH0OSU2xdd) > **Note**: You can skio Step 6 to Step 8 if you don't have Enterprise Plan Subscription. SLAM and Navigation are only supported as Premium features. Step 6: Open a new terminal , switch to base directory `OM1-ros2-sdk` and run: ```bash source install/setup.bash ros2 launch go2_sdk sensor_launch.py use_sim:=true ``` This will bring up the `om/path` topic, enabling OM1 to understand the surrounding environment. Step 7: Open a new terminal and run: ```bash export PYTHONPATH=$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](/core-concepts/middleware/zenoh-bridge.md). 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](/developing/1_get-started.md) 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! --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.openmind.com/simulators/isaac-sim.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.