Humanoid_Simulation

Important!!!

The IsaacLab component was tested on NVIDIA driver version 580.x, Ubuntu 24.04, a NVIDIA GeForce RTX 4060, AMD Ryzen 9 8945HS w/ Radeon 78. In testing, it did not work with 595 drivers.

Installation

• Just copy and paste in a terminal:

  cd ~
  #Or wherever you want, just make sure to change paths in docker_run.sh
  git clone https://github.com/correlllab/Humanoid_Simulation.git
  cd Humanoid_Simulation/scripts
  ./docker_build.sh
  #Change paths in docker_run to the ones on your system.
  ./docker_run.sh

Usage

• Within container:

  cd /home/code/h12_sim_scripts
  chmod +x launch.sh
  ./launch.sh

• I strongly recommend keeping the same container for as long as possible. IsaacSim shader compilation takes forever. To restart a stopped (exited) container:

  sudo docker start -ai h12_sim_container
  #or
  sudo docker exec -it h12_sim_container bash

Mini Demo Video(Will be updated soon)

h12_sim_demo.mp4

Expected IsaacLab Realsense Topics

Important Notes for Use of Yutong's ROS2 Controller in Sim

If you plan on using Yutong's ROS2 controller for test, it is best to comment out the line that raises the E-Stop exception (which can be found with just a grep). IsaacSim joint states are below the minimum tolerances for E-Stops, so everything will just error out.