[Question] Verifying the 1xNeo Walking Demo

[daredesukakore]

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

I’m creating the following files based on the H1 task structure

1.isaaclab_assets/robots/neo.py

2.isaaclab_tasks/manager_based/locomotion/velocity/config/neo

flat_env_cfg.py, init.py, rough_env_cfg.py

3.isaaclab_tasks/manager_based/locomotion/velocity/config/neo/agents

init.py, rsl_rl_ppo_cfg.py

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’

1.What is the likely root cause of this error?

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

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

Build Info

Describe the versions that you are currently using:

• Isaac Lab Version: [2.3.2]

• Isaac Sim Version: [5.1.0]