Verifying the 1xNeo Walking Demo in IsaacLab

Omniverse Isaac Sim
1

Important: Isaac Sim support

6.0.0
5.1.0
5.0.0
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
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Operating System

Ubuntu 24.04
Ubuntu 22.04
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GPU Information

  • Model:RTX 5080
  • Driver Version:580.105.08

Topic Description

IsaacLab

Detailed Description

I’m trying to load 1xNeo in IsaacLab and validate walking in a flat terrain environment

I created the required task/config files by referencing the Unitree H1 locomotion task structure, but I don’t fully understand how to choose the Neo-specific configuration values. When I run train.py, I get an error.

Steps to Reproduce

  1. I’m creating the following files based on the H1 task structure
    ・IsaacLab/source/isaaclab_assets/isaaclab_assets/robots/neo.py
    ・IsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/neo
    flat_env_cfg.py、_init_.py、rough_env_cfg.py
    ・IsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/neo/agents
    _init_.py、rsl_rl_ppo_cfg.py

  2. Run the following command
    ./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Flat-Neo-v0 --headless

Error Messages

module ‘isaaclab.envs.mdp’ has no attribute ‘track_lin_vel_xy_yaw_frame_exp’

What is the likely root cause of this error?

I’d like to understand the recommended approach and how to determine the configuration values when creating each file.

Are there any recommended references or docs for porting a locomotion task from an existing robot (e.g., H1) to a custom robot?

3

Hi, For Isaac Lab issue/questions, to get better help, please file issues/discussions to Isaac Lab GitHub. I am closing this topic.