OM1-sim

Simulation packages for Unitree robots, designed to work with OM1.

This repo provides two simulation environments:

Simulator	Directory	Robots	Description
Gazebo	gazebo_sim/	Go2	Lightweight sim with lidar-based obstacle avoidance
Isaac Sim	isaac_sim/	Go2, G1	High-fidelity NVIDIA sim with cameras, LiDAR, IMU

---

Gazebo Simulation

What's included

Component	Purpose
gazebo_sim/go2_sim	Launch file, topic remapping, sport API bridge, battery mock
gazebo_sim/om_path	Lidar-based path feasibility — publishes to /om/paths
gazebo_sim/go2_description	Robot URDF, meshes, and Gazebo worlds
gazebo_sim/champ / champ_base	Quadruped locomotion controller (CHAMP framework)
gazebo_sim/champ_msgs	CHAMP custom message definitions
unitree_api / unitree_go	Unitree message definitions (shared)
om_api	OpenMind message definitions (shared)

Prerequisites

• ROS 2 Humble
• Gazebo (Harmonic or Fortress)

Setup (Native)

# Install ROS 2 dependencies
sudo apt install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge \
  ros-humble-gz-ros2-control ros-humble-ros2-control ros-humble-ros2-controllers \
  ros-humble-robot-state-publisher ros-humble-joint-state-publisher \
  ros-humble-xacro ros-humble-joy ros-humble-teleop-twist-joy \
  ros-humble-rmw-cyclonedds-cpp

# Install zenoh bridge
echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee /etc/apt/sources.list.d/zenoh.list
sudo apt update && sudo apt install zenoh-bridge-ros2dds

# Build
source /opt/ros/humble/setup.bash
cd OM1-sim
colcon build --symlink-install
source install/setup.bash

Running Gazebo

Terminal 1 — Simulation:

source install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 launch go2_sim go2_launch.py

Terminal 2 — Zenoh bridge:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
zenoh-bridge-ros2dds -c zenoh/zenoh_bridge_config.json5

Terminal 3 — OM1:

cd ../OM1
uv run src/run.py go2_sim_autonomy

Gazebo Launch Arguments

Argument	Default	Description
use_sim_time	true	Use Gazebo clock
rviz	true	Launch RViz
world	home_world.sdf	Gazebo world file
robot_name	go2	Robot name in Gazebo
world_init_x/y/z	0/0/0.375	Initial robot position
publish_map_tf	true	Publish static map→odom TF

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Isaac Sim Simulation

Features

• Isaac Sim: Realistic physics simulation of Unitree Go2 and G1
• Cameras: RealSense depth + RGB, Go2 front camera
• LiDAR: Unitree L1 and Velodyne VLP-16 (2D scan)
• IMU: Simulated IMU sensor
• ROS 2 Integration: Full topic publishing (images, point clouds, odometry, TF, joint states)

Prerequisites

• NVIDIA GPU with RTX support
• ROS 2 Humble
• CycloneDDS (sudo apt install ros-humble-rmw-cyclonedds-cpp)

Setup

Step 1: Build the ROS 2 workspace (if not already done for Gazebo):

source /opt/ros/humble/setup.bash
cd OM1-sim
rosdep update
rosdep install --from-paths . --ignore-src -r -y
colcon build

Step 2: Install Isaac Sim (in a separate Python 3.11 venv):

cd OM1-sim/isaac_sim

uv venv --python 3.11 --seed env_isaacsim
source env_isaacsim/bin/activate

# Install IsaacSim 5.1
pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvidia.com

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

# Verify installation
isaacsim

Setup OM1-ros2-sdk (required for sensor/path nodes)

The Isaac Sim launch file automatically starts sensor nodes (om_path, obstacle detection, traversability) from OM1-ros2-sdk. Build it as a sibling directory:

cd ~/Documents/GitHub
git clone https://github.com/OpenMind/OM1-ros2-sdk.git
cd OM1-ros2-sdk
source /opt/ros/humble/setup.bash
colcon build --packages-up-to go2_sdk --packages-ignore lto-test

Running Isaac Sim

Terminal 1 — Simulation:

source /opt/ros/humble/setup.bash
source install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# Go2 (default) — launches Isaac Sim + bridge nodes + sensor nodes
ros2 launch isaac_sim isaac_sim_launch.py

# G1 humanoid
ros2 launch isaac_sim isaac_sim_launch.py robot_type:=g1

# Without sensor nodes (if OM1-ros2-sdk is not built)
ros2 launch isaac_sim isaac_sim_launch.py launch_sensors:=false

Terminal 2 — Zenoh bridge:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
zenoh-bridge-ros2dds -c zenoh/zenoh_bridge_config.json5

Terminal 3 — OM1:

cd ../OM1
uv run src/run.py go2_sim_autonomy

Isaac Sim Keyboard Controls

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

Isaac Sim Launch Arguments

Argument	Default	Description
robot_type	go2	go2 or g1
policy_dir	auto	Path to policy directory
launch_sensors	true	Launch sensor nodes from OM1-ros2-sdk

Isaac Sim CLI Options (run.py)

These are passed directly if running run.py manually (advanced usage):

Argument	Default	Description
--robot_type	go2	go2 or g1
--policy_dir	auto	Path to policy directory

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Repository Structure

OM1-sim/
├── gazebo_sim/           # Gazebo simulation packages
│   ├── go2_sim/          # Launch, sport API bridge, battery mock
│   ├── go2_description/  # URDF, meshes, worlds
│   ├── om_path/          # Lidar-based path feasibility
│   ├── champ/            # Quadruped locomotion controller
│   ├── champ_base/       # CHAMP base package
│   └── champ_msgs/       # CHAMP message definitions
├── isaac_sim/            # Isaac Sim simulation
│   ├── launch/           # ROS2 launch file (isaac_sim_launch.py)
│   ├── run.py            # Main simulation script
│   ├── utils.py          # ROS2 OmniGraph utilities
│   ├── assets/           # Robot USD models (Go2, G1)
│   └── checkpoints/      # Pre-trained locomotion policies
├── om_api/               # OpenMind message definitions (shared)
├── unitree_api/          # Unitree API messages (shared)
├── unitree_go/           # Unitree Go messages (shared)
├── cyclonedds/           # CycloneDDS config
├── zenoh/                # Zenoh bridge config
└── README.md

License

MIT