🐾 Go2 Robot in Isaac Sim (Omniverse)

🐾 Go2 Robot in Isaac Sim (Omniverse)#

You can bring the Go2 robot into Isaac Sim using the go2_omniverse repository.

🧩 Prerequisites#

Isaac Sim Installation#

Isaac Sim Installation

To install isaacsim 2023.1.1 on Ubuntu, refer to the previous setup page.

⚙️ Isaac Sim Setup#

1. Set Permissions#

sudo chown -R $USER:$USER ~/isaac-sim-2023.1.1

2. Move Isaac Sim to Local OV Path#

mkdir -p ~/.local/share/ov/pkg/
mv ~/isaac-sim-2023.1.1 ~/.local/share/ov/pkg/

🧪 Isaac Lab Setup#

3. Clone Isaac Lab v0.3.1#

cd ~
git clone https://github.com/isaac-sim/IsaacLab.git IsaacLab-0.3.1
cd IsaacLab-0.3.1
git checkout tags/v0.3.1 -b v0.3.1

4. ROS 2 Humble#

ROS Installation

Install ROS 2 Humble from the official ROS site. If already installed, skip this step.

ROS Setup for Isaac

Refer to Isaac Sim documentation for installing required ROS packages.

🔧 Environment Configuration#

5. Update .bashrc#

echo 'export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-2023.1.1"' >> ~/.bashrc
echo 'export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"' >> ~/.bashrc
source ~/.bashrc

📦 Install Orbit Dependencies#

7. Launch Conda Setup#

./orbit.sh --conda
conda activate orbit

8. Install System Dependencies#

sudo apt install cmake build-essential

9. Install Python Dependencies#

./orbit.sh --install
python -m pip install "rsl-rl-lib@git+https://github.com/leggedrobotics/rsl_rl.git"

✅ Verify Isaac Sim Installation#

Note

It may take 10–15 minutes to load Isaac Sim. Run the command inside Conda environment.

Ensure you see Isaac Sim Python 2023.1.1 - New Stage* in the title bar.

python source/standalone/tutorials/00_sim/create_empty.py

If you face errors, try installing these specific versions:#

pip install catkin_pkg
pip install empy==3.3.4
pip install lark
pip install shutdown

pip install \
  numpy==1.24.4 \
  numba==0.57.0 \
  stable-baselines3==2.0.0 \
  usd-core>=21.11,<24.00 \
  nvidia-srl-usd==0.13.0 \
  nvidia-srl-usd-to-urdf==0.5.0 \
  moviepy==1.0.3

🤖 Bring in Go2 with go2_omniverse#

10. Clone the Repo#

git clone https://github.com/abizovnuralem/go2_omniverse/ --recurse-submodules -j8 --depth=1

📁 File Setup#

11. Add LiDAR Sensor Config#

mkdir -p IsaacLab-0.3.1/source/data/sensors/lidar
cp go2_omniverse/Isaac_sim/Unitree/Unitree_L1.json IsaacLab-0.3.1/source/data/sensors/lidar/

12. Copy Material Files#

mkdir -p IsaacLab-0.3.1/source/data/material_files
cp -r ~/.local/share/ov/pkg/isaac-sim-2023.1.1/data/material_files/* IsaacLab-0.3.1/source/data/material_files/

▶️ Run the Simulation#

cd go2_omniverse
./run_sim.sh
Contents