Event

Guyueju Releases Isaac Sim Humanoid Robot Sim-to-Real Tutorial

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Guyueju released a sim-to-real hands-on tutorial that uses Unitree H1, Isaac Sim 2024.1, IsaacLab, and PPO to walk through the complete pipeline from URDF to USD conversion, scene setup, domain randomization configuration, and PPO training, to ONNX export and ROS 2 real-robot deployment, and states that it has been run successfully on a real Unitree H1. The tutorial states the hardware threshold as NVIDIA RTX 4090 (24GB) or higher; RTX 4080 (16GB) can only run with a smaller batch. The article also notes differences between simulation and the real robot: the simulation step is 1kHz while the real robot may only be 500Hz, requiring a 1-step delay; the PD gains need to be reduced from 80/2 in simulation to 50/1.5 on the real robot because motor torque is limited.