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Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)
| Date | Stars |
|---|---|
| 2026-07-24 | 1050 |
| 2026-07-25 | 1050 |
| 2026-07-28 | 1050 |
| 2026-07-30 | 1050 |
| 2026-08-06 | 1050 |
Today
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growth rate 0.00%/day
<p align="center">
<img src="./media/hero.png" width="900" alt="Unitree Go2 digital twin rendered in Isaac Sim with studio HDRI lighting">
</p>
<p align="center"><em>Unitree Go2 twin in Isaac Sim 5.x — studio HDRI lighting, RT2 <code>quality</code> render.</em></p>
# Welcome to the Unitree Go2/G1 Digital Twins Project!
[](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
[](https://docs.python.org/3/whatsnew/3.10.html)
[](https://releases.ubuntu.com/22.04/)
[](https://opensource.org/licenses/BSD-2-Clause)
We are thrilled to announce that the Unitree Go2/G1 robot has now been integrated with the Nvidia Isaac Sim (Orbit), marking a major step forward in robotics research and development. The combination of these two cutting-edge technologies opens up a world of possibilities for creating and testing algorithms in a variety of simulated environments.
Get ready to take your research to the next level with this powerful new resource at your fingertips!
## What this fork adds
This fork of [`abizovnuralem/go2_omniverse`](https://github.com/abizovnuralem/go2_omniverse)
adds a **real-robot digital twin** mode and an **Isaac Sim 5.x / ROS 2 Jazzy** port,
plus higher-fidelity default rendering.
### Real-robot digital twin (`./run_twinbot.sh`)
`twinbot` mode drives the *simulated* Go2's joints directly from the **physical**
robot's `/lowstate` stream (forwarded off the Jetson by `scripts/twinbot_bridge.py`),
so the sim mirrors the real dog 1:1 via IMU-aligned kinematic playback. Details in
[`docs/TWINBOT_IMU_FIX.md`](./docs/TWINBOT_IMU_FIX.md).
Scope, stated honestly:
- **Real → Sim** (physical robot state into the twin): implemented and IMU-aligned.
- **Sim → Real** (commands back to the robot): the standard Unitree SDK control path,
not a closed, learned loop. We do not claim more than that.
### Rendering
- The default scene is lit with Isaac's bundled studio HDRI (image-based lighting), so
the robot's shells catch real reflections instead of reading as a flat gray dome.
- `./run_twinbot.sh` launches the `quality` RT2 render preset (`--rendering_mode quality`).
- Hero stills are produced headlessly with `--capture`, which renders the Go2 from several
angles via an `isaaclab` Camera render product (no on-screen window needed):
```bash
./run_sim.sh --capture 80 --headless --enable_cameras --rendering_mode quality \
--capture_dir ./media
```
- For cinematic demo footage, record the joint trajectory live, then re-render it offline
in RTX **path-tracing** mode (live closed-loop favours the real-time preset).
<p align="center">
<img src="./media/twin_side.png" width="46%" alt="Go2 twin, side profile">
<img src="./media/twin_low.png" width="46%" alt="Go2 twin, low angle">
</p>
### Isaac Sim 5.x boot fixes
- ROS 2 bridge libraries are resolved from `isaacsim.ros2.core` (Isaac 5.x relocated them
out of `isaacsim.ros2.bridge`), with a fallback to the old path.
- Articulation buffers are converted from warp arrays to NumPy before indexing
(IsaacLab 4.5 / Isaac Sim 6.0 compatibility).
- See [`JAZZY.md`](./JAZZY.md) for the venv setup and what is / is not validated.
## Real time Go2 Balancing:
<p align="center">
<img width="1280" height="600" src="https://github.com/abizovnuralem/go2_omniverse/assets/33475993/60c2233a-7586-49b6-a134-a7bddc4dd9ae" alt='Go2'>
</p>
## Real time G1 Balancing:
<p align="center">
<img width="1280" height="600" src="https://github.com/abizovnuralem/go2_omniverse/assets/33475993/d035f72a-8996-461c-a902-38e68052d029" alt='Go2'>
</p>
## Go2 Ros2 CamerExcerpt of 14,313 characters
Read on GitHub
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Zhefan Xu · Carnegie Mellon University · United States
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:cd37f9c1c6b360a3, topic:robotics, readme:robotics