[feature] adpat agibot a2 dof12 into unitree rl locomotion

[zhangyi1357]

Description

Adapting the 12-DOF version of the agibot a2 robot to the unitree_rl framework in RoboVerse learn, supporting locomotion training using the IsaacGym simulator and sim2sim using the MuJoCo simulator.

Currently, only the basic training and sim2sim pipeline have been adapted. Reward parameters still need some adjustments to achieve better walking effects. When the reward parameters are properly adjusted, documentation and more content will be supplemented.

Type of change

• New feature (non-breaking change which adds functionality)

How to test

Train in isaacgym from scratch,

python roboverse_learn/rl/unitree_rl/main.py   --task walk_agibot_a2_dof12   --sim isaacgym   --num_envs 4096   --robot agibot_a2_dof12 --headless

Eval in isaacgym from a checkpoint,

python roboverse_learn/rl/unitree_rl/main.py   --task walk_agibot_a2_dof12   --sim isaacgym   --num_envs 32   --robot agibot_a2_dof12 --resume 2025_1127_092147 --eval

If you want to use mujoco to do sim2sim, just change isaacgym to mujoco and reduce num_envs to 1.

Screenshots / Videos

Please attach before and after screenshots or videos of the change if applicable.

2025-11-30_17-09-19.mp4

Checklist

• I have run the pre-commit checks with pre-commit run --color=always --all-files
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have added my name to the CONTRIBUTORS.md or my name already exists there