R1 Pro IsaacSim Simulation Usage Instruction

Install IsaacSim

Please visit the official tutorial Isaac Sim Documentationby Nvidia IsaacSim.

You may also follow the simple steps below:

1. Download IsaacSim 4.5

   

2. Install IsaacSim

   mkdir ~/isaacsim
   cd ~/Downloads
   unzip "the_file_you_just_downloaded.zip" -d ~/isaacsim
   cd ~/isaacsim
   ./post_install.sh
   ./isaac-sim.selector.sh
   

3. Open the software and check if the installation is successful.

   

R1 Pro Simulation Resources

Visit our open source repository: open_source/galaxea_isaac_tutorial

The simulation related files are in the path: galaxea_isaac_tutorial/object.

Demo

In the path galaxea_isaac_tutorial/source, we provided the sample demo of the wrist movement, chassis movement, target following, the whole-body movement of R1 Pro.

Wrist Movement

• The path of IsaacSim python：~/isaacsim/python.sh
• The path of the target following script of R1 Pro：source/torso.py

cd galaxea_isaac_tutorial
~/isaacsim/python.sh source/torso.py

After running the above command, you can see that the robot will stand upright and then rotate its waist, which is the torso T4 joint.

Chassis Movement

• The path of IsaacSim python：~/isaacsim/python.sh
• The path of the target following script of R1 Pro：source/wheel_move.py

cd galaxea_isaac_tutorial
~/isaacsim/python.sh source/wheel_move.py

After running the above command, you can see that the robot chassis first moves in a straight line and then turns to the front-left.

Target Following

• The path of IsaacSim python：~/isaacsim/python.sh
• The path of the target following script of R1 Pro：source/follow_target.py

cd galaxea_isaac_tutorial
~/isaacsim/python.sh source/follow_target.py

After running the above command, you can control the controlled target (i.e., the end of the robot's right arm) to follow the movement of the target.

The Whole-body Movement

• The path of IsaacSim python：~/isaacsim/python.sh
• The path of the target following script of R1 Pro：source/whole_body_move.py

cd galaxea_isaac_tutorial
~/isaacsim/python.sh source/whole_body_move.py

After running the above command, you can see the robot straighten its waist, rotate its waist, swing its left arm, and open its right gripper in sequence.