> For the complete documentation index, see [llms.txt](https://berkeley-humanoid-lite.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://berkeley-humanoid-lite.gitbook.io/docs/getting-started-with-software.md).

# 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.

{% content-ref url="/pages/sCAitQdRSupN6Khf8xtr" %}
[Software Development Environment Overview](/docs/getting-started-with-software/software-development-environment-overview.md)
{% endcontent-ref %}

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

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[Training Environment](/docs/getting-started-with-software/training-environment.md)
{% endcontent-ref %}

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

{% content-ref url="/pages/tSgbgVtUdNpMoqZZK8KP" %}
[Sim2sim Validation](/docs/getting-started-with-software/sim2sim-validation.md)
{% endcontent-ref %}

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.

{% content-ref url="/pages/Yb1Ejk9VYK7LcC8VABgn" %}
[The On-board Computer](/docs/getting-started-with-software/the-on-board-computer.md)
{% endcontent-ref %}

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

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[Motion Capture System](/docs/getting-started-with-software/motion-capture-system.md)
{% endcontent-ref %}