Getting Started with Software

This tutorial section will introduce the software aspect of Berkeley Humanoid Lite.

In the Software Development Environment Overview page, we give an overview of the components of the software development environment.

Software Development Environment Overview

Then, we introduce the procedure to set up the Isaac Lab and our Berkeley Humanoid Robot Extension Python module in the Training Environment page.

Training Environment

In the Sim2sim Validation page, we show the steps to test and validate a trained policy in the MuJoCo simulator.

Sim2sim Validation

For policy deployment onto real-world robot, we will need to set up the deployment environment on the on-board computer. The instructions are covered in The On-board Computer page.

The On-board Computer

The Motion Capture System page introduces the steps to set up the SteamVR motion tracking system we used for teleoperated manipulation tasks.

Motion Capture System