Put Unitree G1 in Isaac Sim

[fran15]

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

• Model: GeForce RTX 3060 Mobile
• Driver Version: 550.144.03

Topic Description

Detailed Description

I am trying to add Unitree G1 to Isaac Sim but when I add it and run the simulation it is very unstable, it goes forward and crashes. I also try with the demo that they provide in Isaac Lab in the path scripts/demos/bipeds.py that they add 3 Unitree robots and also the three of them crash so I don’t know if there is an error in the model or in the configuration (I used the one they provide for the Unitree G1 Robot).

Steps to Reproduce

1. I load in my script the model provided by Unitree called G1_CFG.
2. Run simulator

Error Messages

Nothing

Screenshots or Videos

[Simplychenable]

@fran15 have you tried using the g1 robot that’s shipped with Isaac Sim? if you haven’t, you can find it in the Isaac Sim Assets browser:

1. Isaac Sim Assets > IsaacLab > Robots > UnitTree > G1 or
2. Isaac Sim Assets > Robots > UnitTree > G1

see if the same crashing behavior persists.

i haven’t had issues with the robot leaning/crashing if i were to place it on a ground plane from the getgo.

[fran15]

Yes, I tried it but when I put that .usd as I want to load it in a scene using the Isaac Lab framework it tells me that the joints are not defined.

[phennings]

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We appreciate your understanding and look forward to assisting you.

[phennings]

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