Humanoid_Simulation

IsaacLab Simulation for the H1_2 robot.

##Important! Nvidia driver version 595 is not super stable, sometimes it just doesn't work. I recommend using 570.x.

Installation

• Just copy and paste in a terminal:

  cd ~
  git clone https://github.com/correlllab/Humanoid_Simulation.git
  cd Humanoid_Simulation/scripts
  ./docker_build.sh
  ./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

h12_sim_demo.mp4

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.