H12 Locomotion with IsaacLab Extension

Project Description

This repository is a standalone extension of IsaacLab, focused on developing and training locomotion policies for the Unitree H12 humanoid robot.

To-Do List

1. Asset Creation

• Design or obtain a USD file for the H12 robot [used create_urdf.py script from isaaclab].
• Validate the H12 usd in the isaacsim.

2. Environment & Code Adaptation

• Review H1 robot training code and environment configuration.
• change robot configuration files for H12 (unitree.py).
• Update or create task definitions for H12 under flat_env_cfg.py, rough_env_cfg.py,velocity_env_cfg.py.
• Register the task.

3. Train and Evaluate

• Run the training for flat or rough terrain.
• Validate and visualize the walking policy using play.
• [] Add gaiting phases for walking.

4. (Optional) Advanced Features

• [] Do mujuco sim2sim verification.
• [] Do sim2real transfer.