The Bimo Project: an open-source bipedal robotics platform, trained using Isaac Lab, with working sim to real transfer.

[mekion]

Hey everyone!

I'm excited to share Bimo, an open-source bipedal robot kit built for research and education. After 2 years of solo development, I've integrated it fully with Isaac Lab for reinforcement learning training with proven sim-to-real transfer.

Key Features:

• Complete Isaac Lab environment with USD robot file, config files and full DirectRLEnv implementation
• Working sim-to-real transfer: trained walking policy deploys directly to hardware (currently on Isaac Lab 2.0.2, migrating to 2.3.0)
• Two kit options: DIY (user FDM 3D-prints and assembles) and SLS (fully assembled with SLS 3D printed nylon components)
• 100% open-source: all CAD files, electronics, firmware, and Isaac Lab code publicly available

Links:

• GitHub: https://github.com/mekion/the-bimo-project
• Founder Video: https://youtu.be/zrvNYrnC-GI
• Project Website: www.mekion.com
• Discord Community: https://discord.gg/9uXsArwXHG

I'm actively working on upgrading to Isaac Lab 2.3.0 (Isaac Sim 5) and would love feedback from the community. Happy to answer any questions about the technical implementation, bipedal RL challenges, or hardware design!

[RandomOakForest]

Thank you for posting this! Great work!