Software Development Environment Overview

Directory walkthrough

The HybridRobotics/Berkeley-Humanoid-Lite 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.

Code Editor

We recommend using Cursor / VisualStudio Code as the editor.