Berkeley Humanoid Lite Docs
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  • Getting Started with Hardware
    • Materials and Parts (BOM)
    • Preparing the Tools
    • 3D Printing Instructions
    • Building the Actuator
    • Flashing the Motor Controllers
    • Building the Robot
  • Getting Started with Software
    • Software Development Environment Overview
    • Training Environment
    • Sim2sim Validation
    • The On-board Computer
    • Motion Capture System
  • lerobot Integration
  • In-depth Contents
    • Field Oriented Control (FOC) Operation
    • Motor Controller Firmware Execution Timing Information
    • Motor Characterization
    • Actuator Characterization
    • CAN Communication
    • Joint ID Mapping
    • Exporting Robot Description Files from Onshape
    • Domain Randomizations for Training Locomotion
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  1. Getting Started with Software

Software Development Environment Overview

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Last updated 15 days ago

Directory walkthrough

The repository will be our working directory for everything.

Inside the directory, there are three packages:

source/berkeley_humanoid_lite/ contains the IsaacLab environment and task definitions.

source/berkeley_humanoid_lite_assets/ contains robot descriptions (URDF, MJCF, and USD) and the script to export these description files from Onshape project.

source/berkeley_humanoid_lite_lowlevel/ contains the lowlevel code running on the real robot. Only contents inside this folder is required to copy to the robot. We will cover that part in a later section.

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HybridRobotics/Berkeley-Humanoid-Lite
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