Overview

An IsaacLab DirectEnv for performing teleoperation with Unitree Go2 + AgileX Piper, with scripts for sim-to-sim and sim-to-real.

Features:

• Locomotion policy able to adjust pose and carry a manipulator
• Manipulation controller using whole-body Inverse Kinematics with reduced model using mink + feedback linearization
• Concurrent State Estimator
• Rapid Motor Adaptation
• Identification of robot parameters for sim2real using pace via our repo sim2real-robot-identification
• Sim-to-Sim in Mujoco
• Sim-to-Real in ROS2 compatible with our public low-level robot's hal for Go2 unitree_ros2_dls and Agilex Piper arm piper-ros2-dls

Installation and Runs

If you want only to deploy a trained policy on your robot, continue on README_DEPLOY otherwise on README_TRAIN.

For the train, check first the compatibility with IsaacLab and rsl-rl at the top of this readme. They indicate the releases that we tested.

Cite this work

This work takes a lot of inspiration from our repo trash-collection-isaaclab. If you find it useful, please consider citing:

BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection

@article{turrisi26littercollection,
  author = {Giulio Turrisi and Angelo Bratta and Giovanni Minelli and Gabriel Fischer Abati and Amir H. Rad and João Carlos Virgolino Soares and Claudio Semini},
  title = {BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection},
  journal = {arXiv},
  year = {2026}
}

How to contribute

PRs are very welcome (search for TODO in the issue, or add what you like)!

Maintainer

This repository is maintained by Giulio Turrisi.