h1-sim2sim-ros2

Deploying a Unitree H1 locomotion policy trained in NVIDIA Isaac Lab through a C++ ROS2 node, controlling the robot in MuJoCo (sim-to-sim transfer). Pipeline: Isaac Lab training, ONNX export, C++ ROS2 policy node on ONNX Runtime, C++ MuJoCo bridge, H1 in MuJoCo. The policy stands and walks in MuJoCo through the C++ ROS2 nodes.