Isaac Sim: add TRON1, split launchers, and fix issues (#1)

* include isaac sim, policy checkpoints, and cloud support

* fix isaac sim, separate launch files, refactor lowstate node

* add tron usd

* fix lint

Author: ShaohongZ

.gitignore

@@ -23,6 +23,11 @@ Thumbs.db
 # Logs
 *.log
 
+# Isaac Sim heavy binary assets — populate manually from go2_isaac_sim/standalone
+# (Modern_Apartment.usdz ~101M, human.usdz ~20M, USD configuration dirs ~46M)
+isaac_sim/assets/human/
+isaac_sim/assets/environment/
+
 # Isaac Sim venv
 isaac_sim/env_isaacsim/
 isaac_sim/__pycache__/

README.md

@@ -7,7 +7,7 @@ This repo provides two simulation environments:
 | Simulator | Directory | Robots | Description |
 |-----------|-----------|--------|-------------|
 | **Gazebo** | `gazebo_sim/` | Go2 | Lightweight sim with lidar-based obstacle avoidance |
-| **Isaac Sim** | `isaac_sim/` | Go2, G1 | High-fidelity NVIDIA sim with cameras, LiDAR, IMU |
+| **Isaac Sim** | `isaac_sim/` | Go2, G1, TRON1 | High-fidelity NVIDIA sim with cameras, LiDAR, IMU |
 
 ---
 
@@ -89,11 +89,13 @@ uv run src/run.py go2_sim_autonomy
 
 ### Features
 
-- **Isaac Sim**: Realistic physics simulation of Unitree Go2 and G1
+- **Isaac Sim**: Realistic physics simulation of Unitree Go2, G1, and TRON1
 - **Cameras**: RealSense depth + RGB, Go2 front camera
 - **LiDAR**: Unitree L1 and Velodyne VLP-16 (2D scan)
 - **IMU**: Simulated IMU sensor
 - **ROS 2 Integration**: Full topic publishing (images, point clouds, odometry, TF, joint states)
+- **Lowstate publisher**: mock `/lowstate`, `/lf/lowstate` with battery drain/charge sim
+- **Optional scenery**: apartment environment, human pedestrian, AprilTag charging dock
 
 ### Prerequisites
 
@@ -158,10 +160,21 @@ ros2 launch isaac_sim isaac_sim_launch.py
 # G1 humanoid
 ros2 launch isaac_sim isaac_sim_launch.py robot_type:=g1
 
+# TRON1 bipedal wheelfoot
+ros2 launch isaac_sim isaac_sim_launch.py robot_type:=tron1
+
 # Without sensor nodes (if OM1-ros2-sdk is not built)
 ros2 launch isaac_sim isaac_sim_launch.py launch_sensors:=false
 ```
 
+If you start `run.py` separately (e.g. directly in the Isaac Sim venv), use the
+support-nodes launcher instead — it brings up only the bridge nodes, lowstate,
+and topic relays:
+
+```bash
+ros2 launch isaac_sim isaac_sim_launch_support_nodes.py
+```
+
 **Terminal 2 — Zenoh bridge:**
 
 ```bash
@@ -191,7 +204,7 @@ uv run src/run.py go2_sim_autonomy
 
 | Argument | Default | Description |
 |----------|---------|-------------|
-| `robot_type` | `go2` | `go2` or `g1` |
+| `robot_type` | `go2` | `go2`, `g1`, or `tron1` |
 | `policy_dir` | auto | Path to policy directory |
 | `launch_sensors` | `true` | Launch sensor nodes from OM1-ros2-sdk |
 
@@ -201,7 +214,7 @@ These are passed directly if running `run.py` manually (advanced usage):
 
 | Argument | Default | Description |
 |----------|---------|-------------|
-| `--robot_type` | `go2` | `go2` or `g1` |
+| `--robot_type` | `go2` | `go2`, `g1`, or `tron1` |
 | `--policy_dir` | auto | Path to policy directory |
 
 ---
@@ -218,10 +231,12 @@ OM1-sim/
 │   ├── champ_base/       # CHAMP base package
 │   └── champ_msgs/       # CHAMP message definitions
 ├── isaac_sim/            # Isaac Sim simulation
-│   ├── launch/           # ROS2 launch file (isaac_sim_launch.py)
+│   ├── launch/           # isaac_sim_launch.py (all-in-one)
+│   │                     # + isaac_sim_launch_support_nodes.py
 │   ├── run.py            # Main simulation script
 │   ├── utils.py          # ROS2 OmniGraph utilities
-│   ├── assets/           # Robot USD models (Go2, G1)
+│   ├── lowstate_node.py  # Mock LowState publisher with battery sim
+│   ├── assets/           # Robot USD models (Go2, G1, TRON1)
 │   └── checkpoints/      # Pre-trained locomotion policies
 ├── om_api/               # OpenMind message definitions (shared)
 ├── unitree_api/          # Unitree API messages (shared)

isaac_sim/CMakeLists.txt

@@ -8,4 +8,10 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+install(PROGRAMS
+  lowstate_node.py
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME lowstate_node
+)
+
 ament_package()

isaac_sim/assets/apriltags.png

@@ -0,0 +1 @@
+/home/shaohong/Projects/tron1-rl-isaaclab/exts/bipedal_locomotion/bipedal_locomotion/assets/usd/WF_TRON1A/configuration

isaac_sim/assets/tron1/usd/configuration

@@ -0,0 +1,48 @@
+# TRON1 WheelFoot (WF_TRON1A) deployment configuration
+# 8 DOF: 6 leg joints (position control) + 2 wheel joints (velocity control)
+# Joint order: abad_L, abad_R, hip_L, hip_R, knee_L, knee_R, wheel_L, wheel_R
+
+step_dt: 0.02
+decimation: 4
+history_length: 10
+
+# No joint reordering needed - sim order matches SDK order
+joint_ids_map: null
+
+# 8 joints total
+stiffness: [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 0.0, 0.0]
+damping: [2.5, 2.5, 2.5, 2.5, 2.5, 2.5, 0.8, 0.8]
+default_joint_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
+# Leg joints are first 6, wheel joints are last 2
+num_leg_joints: 6
+num_wheel_joints: 2
+
+commands:
+  base_velocity:
+    ranges:
+      lin_vel_x: [-0.7, 0.7]
+      lin_vel_y: [-0.5, 0.5]
+      ang_vel_z: [-3.14159, 3.14159]
+
+actions:
+  leg:
+    scale: 0.25
+    use_default_offset: true
+  wheel:
+    scale: 1.0
+
+observations:
+  base_ang_vel:
+    scale: [0.25, 0.25, 0.25]
+  projected_gravity:
+    scale: [1.0, 1.0, 1.0]
+  joint_pos_rel:
+    # Only 6 leg joints (no wheels)
+    scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+  joint_vel_rel:
+    # All 8 joints
+    scale: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+  last_action:
+    # All 8 actions
+    scale: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]

isaac_sim/checkpoints/tron1/exported/encoder.pt

@@ -148,12 +148,13 @@ def generate_launch_description():
         ],
     )
 
-    go2_lowstate_node = TimerAction(
+    # Use the Isaac-Sim-specific lowstate node, not gazebo's go2_lowstate_node.
+    lowstate_node = TimerAction(
         period=15.0,
         actions=[
             Node(
-                package="go2_sim",
-                executable="go2_lowstate_node",
+                package="isaac_sim",
+                executable="lowstate_node",
                 name="go2_lowstate_node",
                 output="screen",
             ),
@@ -211,7 +212,7 @@ def generate_launch_description():
             # Bridge nodes (after 15s delay for Isaac Sim startup)
             go2_remapping_node,
             go2_sport_node,
-            go2_lowstate_node,
+            lowstate_node,
         ]
         + sensor_entities
     )

isaac_sim/checkpoints/tron1/exported/policy.pt

@@ -0,0 +1,128 @@
+"""
+Bridge nodes launcher for use when Isaac Sim is already running.
+
+Counterpart to isaac_sim_launch.py, which spawns Isaac Sim itself plus these
+nodes. Use this one if you start run.py separately.
+
+om_path is not launched here — it comes from OM1-ros2-sdk's sensor_launch.py
+that the all-in-one launcher invokes. Uncomment the block below to run it
+standalone.
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration("use_sim_time")
+
+    declare_use_sim_time = DeclareLaunchArgument(
+        "use_sim_time",
+        default_value="true",
+        description="Use simulation (Isaac Sim) clock if true",
+    )
+    declare_rviz = DeclareLaunchArgument(
+        "rviz", default_value="false", description="Launch rviz2"
+    )
+
+    go2_sport_node = Node(
+        package="go2_sim",
+        executable="go2_sport_node",
+        name="go2_sport_node",
+        output="screen",
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+
+    go2_remapping_node = Node(
+        package="go2_sim",
+        executable="go2_remapping_node",
+        name="go2_remapping_node",
+        output="screen",
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+
+    # Use the Isaac-Sim-specific lowstate node, not gazebo's go2_lowstate_node.
+    lowstate_node = Node(
+        package="isaac_sim",
+        executable="lowstate_node",
+        name="go2_lowstate_node",
+        output="screen",
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+
+    # om_path_node = Node(
+    #     package="om_path",
+    #     executable="om_path",
+    #     name="om_path",
+    #     output="screen",
+    #     parameters=[
+    #         {"use_sim_time": use_sim_time},
+    #         {"use_sim": True},
+    #     ],
+    # )
+
+    # Republish renamed topics so consumers using either naming work.
+    relay_color_image = Node(
+        package="topic_tools",
+        executable="relay",
+        name="relay_color_image",
+        arguments=[
+            "/camera/realsense2_camera_node/color/image_raw",
+            "/camera/realsense2_camera_node/color/image_isaac_sim_raw",
+        ],
+        output="screen",
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+    relay_depth_image = Node(
+        package="topic_tools",
+        executable="relay",
+        name="relay_depth_image",
+        arguments=[
+            "/camera/realsense2_camera_node/depth/image_rect_raw",
+            "/camera/realsense2_camera_node/depth/image_rect_isaac_sim_raw",
+        ],
+        output="screen",
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+    relay_unitree_lidar = Node(
+        package="topic_tools",
+        executable="relay",
+        name="relay_unitree_lidar",
+        arguments=["/unitree_lidar/points", "/unitree_lidar"],
+        output="screen",
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+    relay_go2_camera = Node(
+        package="topic_tools",
+        executable="relay",
+        name="relay_go2_camera",
+        arguments=["/camera/image_raw", "/camera/go2/image_raw"],
+        output="screen",
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+
+    rviz2 = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+        condition=IfCondition(LaunchConfiguration("rviz")),
+    )
+
+    return LaunchDescription(
+        [
+            declare_use_sim_time,
+            declare_rviz,
+            go2_sport_node,
+            go2_remapping_node,
+            lowstate_node,
+            relay_color_image,
+            relay_depth_image,
+            relay_unitree_lidar,
+            relay_go2_camera,
+            rviz2,
+        ]
+    )