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Simulation Platform Guide

Installing IsaacSim

Follow the official NVIDIA IsaacSim tutorial Isaac Sim Documentation to complete the installation.

  1. Download IsaacSim 4.5 r1pro_install_1

  2. Install IsaacSim

    mkdir ~/isaacsim
cd ~/Downloads
unzip "the downloaded IsaacSim archive" -d ~/isaacsim
cd ~/isaacsim
./post_install.sh
./isaac-sim.selector.sh

  3. Open IsaacSim to confirm the installation succeeded r1pro_install_2

R1 Pro Simulation Files

Visit our open-source code repository: open_source/galaxea_isaac_tutorial

The R1 Pro simulation files can be found in the galaxea_isaac_tutorial/object directory.

Demos

In the galaxea_isaac_tutorial/source directory, we provide examples for R1 Pro torso motion, chassis motion, target following, and whole-body motion.

Torso Motion

  • IsaacSim python path: ~/isaacsim/python.sh
  • R1 Pro target-following script path: source/torso.py
# Enter the R1 Pro tutorial directory
cd galaxea_isaac_tutorial
# Run
~/isaacsim/python.sh source/torso.py

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

Chassis Motion

  • IsaacSim python path: ~/isaacsim/python.sh
  • R1 Pro target-following script path: source/wheel_move.py
# Enter the R1 Pro tutorial directory
cd galaxea_isaac_tutorial
# Run
~/isaacsim/python.sh source/wheel_move.py

After running the command above, you can see the robot chassis first move in a straight line and then turn toward the front left.

Target Following

  • IsaacSim python path: ~/isaacsim/python.sh
  • R1 Pro target-following script path: source/follow_target.py
# Enter the R1 Pro tutorial directory
cd galaxea_isaac_tutorial
# Run
~/isaacsim/python.sh source/follow_target.py

After running the command above, you can control the controlled target (that is, the end of the robot's right arm) to follow the target motion.

Whole-Body Motion

  • IsaacSim python path: ~/isaacsim/python.sh
  • R1 Pro target-following script path: source/whole_body_move.py
# Enter the R1 Pro tutorial directory
cd galaxea_isaac_tutorial
# Run
~/isaacsim/python.sh source/whole_body_move.py

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