H1v2 Sim2Real

[ConstantRoux]

Hi everyone,

Has anyone implemented a simple open-source locomotion task for the H1v2 robot in IsaacLab that successfully transferred from sim to real?

I came across the Unitree legged gym training pipeline, but it appears to be deprecated. I’m curious if anyone has ported this pipeline—or developed something similar—for IsaacLab 2.x.

Any pointers or shared experiences would be greatly appreciated. Thanks in advance!