Controlling a Four-Legged Robot

Omniverse Isaac Sim
1

I have a four-legged robot model as a STEP file that I’ve imported to Isaac Sim 2022.2.1, but I did not do anything else. I want to use Python to make the robot move forward without ROS, but I’m new to using Isaac Sim and need guidance on the necessary steps. I also have Visual Studio Code. Please provide guidance on how to proceed.
Thank you in advance!

2

Please see the quadruped extension: Quadruped — Omniverse Robotics documentation

3

I have some questions,
1- I want your guide to get the most benefit of it because it is somehow confusing,
2- The first thing I need to do is to add joints, right? And then what should I do?

4

Hi @meryanraad - Can you let us know about with what particular section you have question from the above documentation?

6

Hi, I am using Isaac Sim 4.2.0. When I clicked the example->quadruped as Quadruped — Omniverse Robotics documentation, the spot(policy control) can move correctly through keywords twist, but for Unitree A1(QPController) it can only walk in place. Do you have any ideas? Thanks!

7

Please create a new topic and include a link to this topic if you believe it’s relevant. Thank you.

8

I’ve created the topic at Isaac Sim quadruped example, looking forward to your replay!

9

Hello Meryanraad, I have the same trouble currently. could you please let me know what works in your case?
Thank you

11

Closing this out as it’s been inactive since 2023 and the original question was addressed with documentation pointers.

@Marwah_Al_Sakkaf — if you’re working on controlling a quadruped robot in a current version of Isaac Sim, I’d recommend:

  1. Isaac Lab (successor to the old quadruped extension): GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim · GitHub — includes locomotion policy examples for quadrupeds with reinforcement learning
  2. Articulation control docs: [isaacsim.core.api] Isaac Sim Core — Isaac Sim

The general workflow is: import URDF/STEP → set up joints and articulation root → apply joint position/velocity targets via Python. Please open a new topic with your specific version and setup details if you need further help.