A simulation environment for HIT_HU robot based on ISAAC LAB.
Including a dynamic random simulation environment generator implemented in ISAAC SIM, a motion controller based on imitation learning, and adequate external sensing interfaces for future development.
Download Isaac Sim from the website with vision >= 4.0.0, then follow the installation instructions.
Following the instructions to install Isaac Lab.
Once Isaac Lab is installed, install the external dependencies for this repo:
pip install -r requirements.txt
Install HIT_omniverse with pip by running:
pip install -e .
hit_omniverse
algo
configs // configs for robots and simulation environments extension // class of environment and robotsmdp // reward, observation, command function and dataset setting dataset // dataset standalone // script files utils // helper function
This project is licensed under the MIT License. Note that the repository relies on third-party code, which is subject to their respective licenses.