{"id":459,"date":"2025-07-10T10:59:32","date_gmt":"2025-07-10T01:59:32","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=459"},"modified":"2025-07-10T10:59:32","modified_gmt":"2025-07-10T01:59:32","slug":"%e3%80%90%e9%96%8b%e7%99%ba%e6%96%b9%e6%b3%95%e3%80%91unitree-g1%e3%81%ae%e4%bb%ae%e6%83%b3%e7%92%b0%e5%a2%83%e4%b8%8a%e3%81%a7%e3%81%ae%e5%bc%b7%e5%8c%96%e5%ad%a6%e7%bf%92","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=459","title":{"rendered":"\u3010\u958b\u767a\u65b9\u6cd5\u3011Unitree G1\u306e\u4eee\u60f3\u74b0\u5883\u4e0a\u3067\u306e\u5f37\u5316\u5b66\u7fd2"},"content":{"rendered":"\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_74 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/robolease.disr-inc.com\/?p=459\/#%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\" >\u306f\u3058\u3081\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=459\/#%E9%96%8B%E7%99%BA%E7%92%B0%E5%A2%83\" >\u958b\u767a\u74b0\u5883<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=459\/#%E7%92%B0%E5%A2%83%E8%A8%AD%E5%AE%9A\" >\u74b0\u5883\u8a2d\u5b9a<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=459\/#%E3%83%A2%E3%83%87%E3%83%AB%E3%83%88%E3%83%AC%E3%83%BC%E3%83%8B%E3%83%B3%E3%82%B0%E3%81%AE%E4%BD%BF%E7%94%A8\" >\u30e2\u30c7\u30eb\u30c8\u30ec\u30fc\u30cb\u30f3\u30b0\u306e\u4f7f\u7528<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=459\/#%E5%8A%B9%E6%9E%9C%E3%81%AE%E3%83%87%E3%83%A2%E3%83%B3%E3%82%B9%E3%83%88%E3%83%AC%E3%83%BC%E3%82%B7%E3%83%A7%E3%83%B3\" >\u52b9\u679c\u306e\u30c7\u30e2\u30f3\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3<\/a><\/li><\/ul><\/nav><\/div>\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\"><\/span>\u306f\u3058\u3081\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u516c\u5f0f\u3067\u63d0\u4f9b\u3055\u308c\u3066\u3044\u308bIsaac Sim\u3092\u4f7f\u7528\u3057\u305f\u5f37\u5316\u5b66\u7fd2\u306e\u624b\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E9%96%8B%E7%99%BA%E7%92%B0%E5%A2%83\"><\/span>\u958b\u767a\u74b0\u5883<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u4ee5\u4e0b\u3001\u30e1\u30fc\u30ab\u30fc\u5074\u3067\u63a8\u5968\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Ubuntu 20.0.4<\/li>\n\n\n\n<li>Nvidia driver 525<\/li>\n\n\n\n<li>GPU:\u30e1\u30e2\u30ea >8GB\u3001RTX \u30b7\u30ea\u30fc\u30ba \u30b0\u30e9\u30d5\u30a3\u30c3\u30af\u30ab\u30fc\u30c9<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"707\" height=\"445\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-33.png\" alt=\"\" class=\"wp-image-460\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-33.png 707w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-33-300x189.png 300w\" sizes=\"auto, (max-width: 707px) 100vw, 707px\" \/><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\" id=\"heading-2\"><span class=\"ez-toc-section\" id=\"%E7%92%B0%E5%A2%83%E8%A8%AD%E5%AE%9A\"><\/span>\u74b0\u5883\u8a2d\u5b9a<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u3053\u306e\u74b0\u5883\u306f\u4eee\u60f3\u74b0\u5883\u3067\u69cb\u6210\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4eee\u60f3\u74b0\u5883\u3092\u4f5c\u6210\u3059\u308b<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\nconda create -n rl-g1 python=3.8\n<\/pre><\/div>\n\n\n<ol start=\"2\" class=\"wp-block-list\">\n<li>\u4eee\u60f3\u74b0\u5883\u3092\u30a2\u30af\u30c6\u30a3\u30d6\u5316\u3059\u308b<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\nconda activate rl-g1\n<\/pre><\/div>\n\n\n<ol start=\"3\" class=\"wp-block-list\">\n<li>Cuda ,pytorch\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\npip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https:\/\/download.pytorch.org\/whl\/cu113\/torch_stable.html\n<\/pre><\/div>\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>NumPy\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\u9ad8\u304f\u3057\u3059\u304e\u306a\u3044\u3088\u3046\u306b\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30d0\u30fc\u30b8\u30e7\u30f31.23.5\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002<\/p>\n<\/blockquote>\n\n\n\n<ol start=\"4\" class=\"wp-block-list\">\n<li><a href=\"https:\/\/developer.nvidia.com\/isaac-gym\">Isaac Gym Preview 4<\/a>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3 \u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001\u89e3\u51cd\u3057\u3066<code>python<\/code>\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5165\u308a\u3001<code>pip<\/code>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306b\u4f7f\u7528\u3057\u307e\u3059\u3002<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n# current directory: isaacgym\/python\npip install -e .\n<\/pre><\/div>\n\n\n<ol start=\"5\" class=\"wp-block-list\">\n<li>\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u5185\u306e\u30eb\u30fc\u30c1\u30f3\u3092\u5b9f\u884c\u3057\u3066\u3001<code>python\/examples<\/code>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u6210\u529f\u3057\u305f\u304b\u3069\u3046\u304b\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n# current directory: isaacgym\/python\/examples\npython 1080_balls_of_solitude.py\n<\/pre><\/div>\n\n\n<p>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u6210\u529f\u3059\u308b\u3068\u3001\u6b21\u306e\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/doc-cdn.unitree.com\/static\/2023\/9\/11\/3abb56841d1d49c5bf6cc11b43148bb6_1600x937.png\" alt=\"\"><br>6.<code>rsl_rl<\/code>\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\uff08v1.0.2\u3092\u4f7f\u7528\uff09<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ngit clone https:\/\/github.com\/leggedrobotics\/rsl_rl\ncd rsl_rl\ngit checkout v1.0.2\npip install -e .\n<\/pre><\/div>\n\n\n<h1 class=\"wp-block-heading\" id=\"heading-3\"><span class=\"ez-toc-section\" id=\"%E3%83%A2%E3%83%87%E3%83%AB%E3%83%88%E3%83%AC%E3%83%BC%E3%83%8B%E3%83%B3%E3%82%B0%E3%81%AE%E4%BD%BF%E7%94%A8\"><\/span>\u30e2\u30c7\u30eb\u30c8\u30ec\u30fc\u30cb\u30f3\u30b0\u306e\u4f7f\u7528<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Unitree\u516c\u5f0f\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ngit clone https:\/\/github.com\/unitreerobotics\/unitree_rl_gym.git\n<\/pre><\/div>\n\n\n<ol start=\"2\" class=\"wp-block-list\">\n<li><code>legged_gym\/scripts\/train.py\u00a0<\/code>\u3068<code>sys.path.append(\"\/home\/unitree\/h1\/legged_gym\")\u3000legged_gym\/scripts\/play.py<\/code>\u3092\u5909\u66f4\u3057\u307e\u3059<\/li>\n\n\n\n<li>\u5f37\u5316\u5b66\u7fd2\u4eee\u60f3\u74b0\u5883\u3092\u30a2\u30af\u30c6\u30a3\u30d6\u5316\u3059\u308b<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\nconda activate rl-g1\n<\/pre><\/div>\n\n\n<ol start=\"4\" class=\"wp-block-list\">\n<li>\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5207\u308a\u66ff\u3048\u3066<code>legged_gym\/scripts<\/code>\u3001\u30c8\u30ec\u30fc\u30cb\u30f3\u30b0\u624b\u9806\u3092\u5b9f\u884c\u3057\u3001\u30c8\u30ec\u30fc\u30cb\u30f3\u30b0\u3092\u958b\u59cb\u3057\u307e\u3059\u3002<\/li>\n<\/ol>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\npython3  train.py --task=g1\n<\/pre><\/div>\n\n\n<p>train.py \u30d5\u30a1\u30a4\u30eb\u5185\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066<code>args.headless<\/code>\u3001\u30d3\u30b8\u30e5\u30a2\u30eb \u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3092\u30aa\u30f3\u307e\u305f\u306f\u30aa\u30d5\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>isaac_gym \u4ee5\u4e0b\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u30c8\u30ec\u30fc\u30cb\u30f3\u30b0\u304c\u59cb\u307e\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"832\" height=\"483\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-34.png\" alt=\"\" class=\"wp-image-461\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-34.png 832w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-34-300x174.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-34-768x446.png 768w\" sizes=\"auto, (max-width: 832px) 100vw, 832px\" \/><\/figure>\n\n\n\n<p>\u30bf\u30fc\u30df\u30ca\u30eb\u51fa\u529b\u30a6\u30a3\u30f3\u30c9\u30a6\u306f\u6b21\u306e\u3068\u304a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/doc-cdn.unitree.com\/static\/2024\/1\/16\/06ad01aedccf495793fc6f583697365d_1086x570.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>1500 \u56de\u30c8\u30ec\u30fc\u30cb\u30f3\u30b0\u3057\u305f\u5f8c\u3001\u30c6\u30b9\u30c8\u624b\u9806\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\npython play.py --task=g1\n<\/pre><\/div>\n\n\n<h1 class=\"wp-block-heading\" id=\"heading-4\"><span class=\"ez-toc-section\" id=\"%E5%8A%B9%E6%9E%9C%E3%81%AE%E3%83%87%E3%83%A2%E3%83%B3%E3%82%B9%E3%83%88%E3%83%AC%E3%83%BC%E3%82%B7%E3%83%A7%E3%83%B3\"><\/span>\u52b9\u679c\u306e\u30c7\u30e2\u30f3\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<figure class=\"wp-block-video\"><video autoplay controls loop src=\"https:\/\/doc-cdn.unitree.com\/static\/2024\/6\/20\/85e72499e8c247e7bd2d4d604184e8cf.mp4\"><\/video><\/figure>\n","protected":false},"excerpt":{"rendered":"\u306f\u3058\u3081\u306b \u516c\u5f0f\u3067\u63d0\u4f9b\u3055\u308c\u3066\u3044\u308bIsaac Sim\u3092\u4f7f\u7528\u3057\u305f\u5f37\u5316\u5b66\u7fd2\u306e\u624b\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059 \u958b\u767a\u74b0\u5883 \u4ee5\u4e0b\u3001\u30e1\u30fc\u30ab\u30fc\u5074\u3067\u63a8\u5968\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3068\u306a\u308a\u307e\u3059\u3002 \u74b0\u5883\u8a2d\u5b9a \u3053\u306e\u74b0\u5883\u306f\u4eee\u60f3\u74b0\u5883\u3067\u69cb\u6210\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002 NumP [&hellip;]","protected":false},"author":1,"featured_media":461,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[27,32,28],"tags":[],"class_list":["post-459","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-howto","category-unitreeg1","category-28"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-34.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/459","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=459"}],"version-history":[{"count":1,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/459\/revisions"}],"predecessor-version":[{"id":462,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/459\/revisions\/462"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/461"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=459"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=459"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=459"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}