Article

Building a Full Sim-to-Real Pipeline for Humanoid Robots with NVIDIA Isaac Sim 2024 and Domain Randomization

Using Unitree H1, Isaac Sim 2024.1, IsaacLab, and PPO as its stack, the article walks through a complete sim-to-real pipeline: converting URDF to USD, scene setup, domain randomization configuration, PPO training, ONNX export, and ROS 2 deployment on the real robot.

Part of the event: Guyueju Releases Isaac Sim Humanoid Robot Sim-to-Real Tutorial

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