Overview

An IsaacLab extension by DLS for performing teleoperation with Unitree Go2 + AgileX Piper.

Status: Work in progress - the train is based still on Aliengo, but it works on Go2. Arm IK can be sometimes jittering in some configuration.

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
• End-effector reference generation via joystick
• 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

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}
}

Maintainer

This repository is maintained by Giulio Turrisi.