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humanoid-mujoco-sim

MuJoCo simulation environment for LimX humanoid robots (HU_D03, HU_D04). Use it to visualize robot models, test motion controllers, and validate RL policies in simulation before deploying to hardware.

1. Quick Start

Prerequisites

• Python 3.8 or higher
• Linux (x86_64)

The bundled prebuild/kinematic_projection helper is x86_64-only. aarch64 users can install the limxsdk wheel but simulation functionality will be limited.

Install

# Clone with submodules (HTTPS)
git clone --recurse-submodules https://github.com/limxdynamics/humanoid-mujoco-sim.git
cd humanoid-mujoco-sim

# Install dependencies
pip install -r requirements.txt

# Install the LimX motion control SDK
pip install limxsdk-lowlevel/python3/amd64/limxsdk-*-py3-none-any.whl

Set Robot Type

Available models: HU_D03_03, HU_D04_01

echo 'export ROBOT_TYPE=HU_D04_01' >> ~/.bashrc && source ~/.bashrc

Run

python simulator.py

You should see the robot standing in a MuJoCo window. Use mouse (right-click + drag) to rotate the view, scroll to zoom.

2. Simulation Controls

Key	Action
Tab	Toggle left/right UI panels
Space	Pause / Resume simulation
Right-click + drag	Rotate camera
Scroll	Zoom

3. Virtual Joystick

Use the included virtual joystick to control the robot interactively:

# Linux
./robot-joystick/robot-joystick
# Windows
robot-joystick/robot-joystick.exe

4. Simulation Demonstration

5. Related Repositories

• humanoid-description — Robot model files (URDF/MuJoCo)
• humanoid-rl-deploy-python — Python RL policy deployment
• humanoid-rl-deploy-cpp — ROS-free C++ RL deployment
• humanoid-rl-isaaclab — RL training with Isaac Lab