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

- Source: 古月居 · 微信公众号
- Published: 2026-10-31T09:20:00.000Z
- RoboHot: https://robohot.news/en/items/rtrv18cz37s5cr9l45k9atmn0
- Original: https://mp.weixin.qq.com/s?__biz=MzU1NjEwMTY0Mw==&mid=2247622385&idx=1&sn=f1f8a1eeac75181ce1ec47a5c2ccf6b1&chksm=faf8ede45881310c25e61131d16973925e27cf63b7780e0aa46ffbc290aafc48ec156d879488&scene=126&sessionid=1793445324#rd

## Summary

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.