{"id":507,"date":"2026-01-22T23:00:08","date_gmt":"2026-01-22T14:00:08","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=507"},"modified":"2026-01-22T23:20:51","modified_gmt":"2026-01-22T14:20:51","slug":"%e3%80%90isaac-lab-2025%e3%80%91%e3%82%b3%e3%83%bc%e3%83%89%e3%83%99%e3%83%bc%e3%82%b9%e3%81%a7%e8%aa%ad%e3%81%bf%e8%a7%a3%e3%81%8funitree-go2%e5%bc%b7%e5%8c%96%e5%ad%a6%e7%bf%92%e3%81%ae%e5%ae%9f","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=507","title":{"rendered":"\u3010Isaac Lab 2025\u3011\u30b3\u30fc\u30c9\u30d9\u30fc\u30b9\u3067\u8aad\u307f\u89e3\u304fUnitree Go2\u5f37\u5316\u5b66\u7fd2\u306e\u5b9f\u88c5\u3068\u7406\u89e3\uff1a\u7406\u89e3\u7de8"},"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-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#%E5%88%9D%E3%82%81%E3%81%AB\" >\u521d\u3081\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#%E3%81%9D%E3%82%82%E3%81%9D%E3%82%82%E4%BD%95%E3%82%92%E5%A4%89%E6%9B%B4%E3%81%99%E3%82%8C%E3%81%B0%E3%81%84%E3%81%84%E3%81%AE%EF%BC%9F\" >\u305d\u3082\u305d\u3082\u4f55\u3092\u5909\u66f4\u3059\u308c\u3070\u3044\u3044\u306e\uff1f<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#%E2%96%BC_trainpy_%E3%81%AE%E4%B8%AD%E8%BA%AB%E3%81%AE%E8%A9%B3%E7%B4%B0%EF%BC%88%E3%82%AF%E3%83%AA%E3%83%83%E3%82%AF%E3%81%A7%E5%B1%95%E9%96%8B%EF%BC%89\" >\u25bc train.py \u306e\u4e2d\u8eab\u306e\u8a73\u7d30\uff08\u30af\u30ea\u30c3\u30af\u3067\u5c55\u958b\uff09<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#%E5%BC%B7%E5%8C%96%E5%AD%A6%E7%BF%92%E3%83%95%E3%83%AD%E3%83%BC%E3%81%AE%E3%82%A4%E3%83%A1%E3%83%BC%E3%82%B8\" >\u5f37\u5316\u5b66\u7fd2\u30d5\u30ed\u30fc\u306e\u30a4\u30e1\u30fc\u30b8<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#%E3%81%9D%E3%82%8C%E3%81%9E%E3%82%8C%E3%81%AECfg%E3%81%AE%E8%AA%AC%E6%98%8E\" >\u305d\u308c\u305e\u308c\u306eCfg\u306e\u8aac\u660e<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#InteractiveSceneCfg\" >InteractiveSceneCfg<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#ObservationsCfg\" >ObservationsCfg<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#RewardsCfg\" >RewardsCfg<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#TerminationCfg\" >TerminationCfg<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#CurriculumCfg\" >CurriculumCfg<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#%E7%B5%82%E3%82%8F%E3%82%8A%E3%81%AB\" >\u7d42\u308f\u308a\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/robolease.disr-inc.com\/?p=507\/#%E5%89%8D%E5%9B%9E%E3%81%AE%E8%A8%98%E4%BA%8B\" >\u524d\u56de\u306e\u8a18\u4e8b<\/a><\/li><\/ul><\/nav><\/div>\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%88%9D%E3%82%81%E3%81%AB\"><\/span><strong>\u521d\u3081\u306b<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p><a href=\"https:\/\/robolease.disr-inc.com\/?p=515\" title=\"\">\u524d\u56de\u306e\u8a18\u4e8b<\/a>\u3067Unitree Go2\u306e\u5b66\u7fd2\u74b0\u5883\u3092\u6574\u3048\u305f\u306e\u3067\u3001\u3069\u306e\u3088\u3046\u306b\u30b3\u30fc\u30c9\u3092\u5909\u66f4\u3057\u3066\u3044\u3051\u3070\u3044\u3044\u304b\u3092\u8aac\u660e\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%9D%E3%82%82%E3%81%9D%E3%82%82%E4%BD%95%E3%82%92%E5%A4%89%E6%9B%B4%E3%81%99%E3%82%8C%E3%81%B0%E3%81%84%E3%81%84%E3%81%AE%EF%BC%9F\"><\/span><strong>\u305d\u3082\u305d\u3082\u4f55\u3092\u5909\u66f4\u3059\u308c\u3070\u3044\u3044\u306e\uff1f<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u57fa\u672c\u7684\u306bIsaacLab\u3067\u306f\u3001<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python\/scripts\/skrl\/train.py --task=$YOUR_TASK # \u8a13\u7df4 &nbsp;\n\npython\/scripts\/skrl\/play.py --task=$YOUR_TASK &nbsp;# \u30d7\u30ec\u30a4<\/code><\/pre>\n\n\n\n<p>\u306e\u4e8c\u3064\u306e\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u4f7f\u7528\u3059\u308b\u306e\u3067\u3059\u304c\u3001\u3053\u306e\u4e8c\u3064\u306e\u30b3\u30fc\u30c9\u3092\u76f4\u63a5\u3044\u3058\u308b\u308f\u3051\u3067\u306f\u306a\u3044\u70b9\u306b\u307e\u305a\u6ce8\u610f\u304c\u5fc5\u8981\u3067\u3059\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E2%96%BC_trainpy_%E3%81%AE%E4%B8%AD%E8%BA%AB%E3%81%AE%E8%A9%B3%E7%B4%B0%EF%BC%88%E3%82%AF%E3%83%AA%E3%83%83%E3%82%AF%E3%81%A7%E5%B1%95%E9%96%8B%EF%BC%89\"><\/span><strong> \u25bc train.py \u306e\u4e2d\u8eab\u306e\u8a73\u7d30\uff08\u30af\u30ea\u30c3\u30af\u3067\u5c55\u958b\uff09<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: python; title: ; notranslate\" title=\"\">\n@hydra_task_config(args_cli.task, agent_cfg_entry_point)\n\ndef main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: dict):\n\n\u00a0 \u00a0 &quot;&quot;&quot;Train with skrl agent.&quot;&quot;&quot;\n\n\u00a0 \u00a0 # override configurations with non-hydra CLI arguments\n\n\u00a0 \u00a0 env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs\n\n\u00a0 \u00a0 env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device\n\n\u00a0 \u00a0 if args_cli.distributed and args_cli.device is not None and &quot;cpu&quot; in args_cli.device:\n\n\u00a0 \u00a0 \u00a0 \u00a0 raise ValueError(\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &quot;Distributed training is not supported when using CPU device. &quot;\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &quot;Please use GPU device (e.g., --device cuda) for distributed training.&quot;\n\n\u00a0 \u00a0 \u00a0 \u00a0 )\n\n\u00a0 \u00a0 if args_cli.distributed:\n\n\u00a0 \u00a0 \u00a0 \u00a0 env_cfg.sim.device = f&quot;cuda:{app_launcher.local_rank}&quot;\n\n\u00a0 \u00a0 if args_cli.max_iterations:\n\n\u00a0 \u00a0 \u00a0 \u00a0 agent_cfg&#x5B;&quot;trainer&quot;]&#x5B;&quot;timesteps&quot;] = args_cli.max_iterations * agent_cfg&#x5B;&quot;agent&quot;]&#x5B;&quot;rollouts&quot;]\n\n\u00a0 \u00a0 agent_cfg&#x5B;&quot;trainer&quot;]&#x5B;&quot;close_environment_at_exit&quot;] = False\n\n\u00a0 \u00a0 if args_cli.ml_framework.startswith(&quot;jax&quot;):\n\n\u00a0 \u00a0 \u00a0 \u00a0 skrl.config.jax.backend = &quot;jax&quot; if args_cli.ml_framework == &quot;jax&quot; else &quot;numpy&quot;\n\n\u00a0 \u00a0 if args_cli.seed == -1:\n\n\u00a0 \u00a0 \u00a0 \u00a0 args_cli.seed = random.randint(0, 10000)\n\n\u00a0 \u00a0 agent_cfg&#x5B;&quot;seed&quot;] = args_cli.seed if args_cli.seed is not None else agent_cfg&#x5B;&quot;seed&quot;]\n\n\u00a0 \u00a0 env_cfg.seed = agent_cfg&#x5B;&quot;seed&quot;]\n\n\u00a0 \u00a0 log_root_path = os.path.join(&quot;logs&quot;, &quot;skrl&quot;, agent_cfg&#x5B;&quot;agent&quot;]&#x5B;&quot;experiment&quot;]&#x5B;&quot;directory&quot;])\n\n\u00a0 \u00a0 log_root_path = os.path.abspath(log_root_path)\n\n\u00a0 \u00a0 print(f&quot;&#x5B;INFO] Logging experiment in directory: {log_root_path}&quot;)\n\n\u00a0 \u00a0 log_dir = datetime.now().strftime(&quot;%Y-%m-%d_%H-%M-%S&quot;) + f&quot;_{algorithm}_{args_cli.ml_framework}&quot;\n\n\u00a0 \u00a0 print(f&quot;Exact experiment name requested from command line: {log_dir}&quot;)\n\n\u00a0 \u00a0 if agent_cfg&#x5B;&quot;agent&quot;]&#x5B;&quot;experiment&quot;]&#x5B;&quot;experiment_name&quot;]:\n\n\u00a0 \u00a0 \u00a0 \u00a0 log_dir += f&#039;_{agent_cfg&#x5B;&quot;agent&quot;]&#x5B;&quot;experiment&quot;]&#x5B;&quot;experiment_name&quot;]}&#039;\n\n\u00a0 \u00a0 agent_cfg&#x5B;&quot;agent&quot;]&#x5B;&quot;experiment&quot;]&#x5B;&quot;directory&quot;] = log_root_path\n\n\u00a0 \u00a0 agent_cfg&#x5B;&quot;agent&quot;]&#x5B;&quot;experiment&quot;]&#x5B;&quot;experiment_name&quot;] = log_dir\n\n\u00a0 \u00a0 log_dir = os.path.join(log_root_path, log_dir)\n\n\u00a0 \u00a0 dump_yaml(os.path.join(log_dir, &quot;params&quot;, &quot;env.yaml&quot;), env_cfg)\n\n\u00a0 \u00a0 dump_yaml(os.path.join(log_dir, &quot;params&quot;, &quot;agent.yaml&quot;), agent_cfg)\n\n\u00a0 \u00a0 resume_path = retrieve_file_path(args_cli.checkpoint) if args_cli.checkpoint else None\n\n\u00a0 \u00a0 if isinstance(env_cfg, ManagerBasedRLEnvCfg):\n\n\u00a0 \u00a0 \u00a0 \u00a0 env_cfg.export_io_descriptors = args_cli.export_io_descriptors\n\n\u00a0 \u00a0 env_cfg.log_dir = log_dir\n\n\u00a0 \u00a0 env = gym.make(args_cli.task, cfg=env_cfg, render_mode=&quot;rgb_array&quot; if args_cli.video else None)\n\n\u00a0 \u00a0 if isinstance(env.unwrapped, DirectMARLEnv) and algorithm in &#x5B;&quot;ppo&quot;]:\n\n\u00a0 \u00a0 \u00a0 \u00a0 env = multi_agent_to_single_agent(env)\n\n\u00a0 \u00a0 if args_cli.video:\n\n\u00a0 \u00a0 \u00a0 \u00a0 video_kwargs = {\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &quot;video_folder&quot;: os.path.join(log_dir, &quot;videos&quot;, &quot;train&quot;),\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &quot;step_trigger&quot;: lambda step: step % args_cli.video_interval == 0,\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &quot;video_length&quot;: args_cli.video_length,\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 &quot;disable_logger&quot;: True,\n\n\u00a0 \u00a0 \u00a0 \u00a0 }\n\n\u00a0 \u00a0 \u00a0 \u00a0 env = gym.wrappers.RecordVideo(env, **video_kwargs)\n\n\u00a0 \u00a0 env = SkrlVecEnvWrapper(env, ml_framework=args_cli.ml_framework)\n\n\u00a0 \u00a0 runner = Runner(env, agent_cfg)\n\n\u00a0 \u00a0 if resume_path:\n\n\u00a0 \u00a0 \u00a0 \u00a0 runner.agent.load(resume_path)\n\n\u00a0 \u00a0 runner.run()\n\n\u00a0 \u00a0 env.close()\n<\/pre><\/div>\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%BC%B7%E5%8C%96%E5%AD%A6%E7%BF%92%E3%83%95%E3%83%AD%E3%83%BC%E3%81%AE%E3%82%A4%E3%83%A1%E3%83%BC%E3%82%B8\"><\/span><strong>\u5f37\u5316\u5b66\u7fd2\u30d5\u30ed\u30fc\u306e\u30a4\u30e1\u30fc\u30b8<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/8aa72049-7ad8-4cf4-a058-f589adb8e494.png\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/f6714451-82e3-4a9f-ac57-52132c179363.png\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%9D%E3%82%8C%E3%81%9E%E3%82%8C%E3%81%AECfg%E3%81%AE%E8%AA%AC%E6%98%8E\"><\/span><strong>\u305d\u308c\u305e\u308c\u306eCfg\u306e\u8aac\u660e<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"InteractiveSceneCfg\"><\/span><strong>InteractiveSceneCfg<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>Unity\u306eHierarchy + Inspector\u76f8\u5f53\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/5f5dac94-4fba-48b0-a68d-f94e5ef44f06.png\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"ObservationsCfg\"><\/span><strong>ObservationsCfg<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30cb\u30e5\u30fc\u30e9\u30eb\u30cd\u30c3\u30c8\u306e\u5165\u529b\u5c64\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"RewardsCfg\"><\/span><strong>RewardsCfg<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u640d\u5931\u95a2\u6570\u76f8\u5f53\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"TerminationCfg\"><\/span><strong>TerminationCfg<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/d9271a86-91b4-4b8b-8586-916b47e1a683.png\" alt=\"\"\/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/qiita-image-store.s3.ap-northeast-1.amazonaws.com\/0\/3446213\/e5d5f0ff-2952-4d5d-9113-7259f9eb4845.gif\" alt=\"\"\/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"CurriculumCfg\"><\/span><strong> CurriculumCfg<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30ab\u30ea\u30ad\u30e5\u30e9\u30e0\u5b66\u7fd2\u7528\u8a2d\u5b9a\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%B5%82%E3%82%8F%E3%82%8A%E3%81%AB\"><\/span><strong>\u7d42\u308f\u308a\u306b<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u3053\u3053\u307e\u3067\u3067\u57fa\u672c\u7684\u306a\u5f37\u5316\u5b66\u7fd2\u306e\u8a2d\u5b9a\u624b\u6cd5\u304c\u7406\u89e3\u3067\u304d\u3066\u304d\u305f\u306e\u3067\u3001\u3044\u3088\u3044\u3088\u5b9f\u969b\u306bUnitree Go2\u3092\u5f37\u5316\u5b66\u7fd2\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\uff01<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%89%8D%E5%9B%9E%E3%81%AE%E8%A8%98%E4%BA%8B\"><\/span><strong>\u524d\u56de\u306e\u8a18\u4e8b<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u3053\u306e\u8a18\u4e8b\u306f \u00a0<\/p>\n\n\n\n<p><a href=\"https:\/\/robolease.disr-inc.com\/?p=515\" title=\"\">[Isaac Lab 2025\u3011\u30b3\u30fc\u30c9\u30d9\u30fc\u30b9\u3067\u8aad\u307f\u89e3\u304fUnitree Go2\u5f37\u5316\u5b66\u7fd2\u306e\u5b9f\u88c5\u3068\u7406\u89e3\uff1a\u6e96\u5099\u7de8]<\/a><\/p>\n\n\n\n<p>\u306e\u7d9a\u304d\u3067\u3059\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"\u521d\u3081\u306b \u524d\u56de\u306e\u8a18\u4e8b\u3067Unitree Go2\u306e\u5b66\u7fd2\u74b0\u5883\u3092\u6574\u3048\u305f\u306e\u3067\u3001\u3069\u306e\u3088\u3046\u306b\u30b3\u30fc\u30c9\u3092\u5909\u66f4\u3057\u3066\u3044\u3051\u3070\u3044\u3044\u304b\u3092\u8aac\u660e\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002 \u305d\u3082\u305d\u3082\u4f55\u3092\u5909\u66f4\u3059\u308c\u3070\u3044\u3044\u306e\uff1f \u57fa\u672c\u7684\u306bIsaacLab\u3067\u306f\u3001 \u306e\u4e8c\u3064\u306e\u30b9\u30af\u30ea\u30d7\u30c8\u3092 [&hellip;]","protected":false},"author":1,"featured_media":513,"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":[30,27,31],"tags":[],"class_list":["post-507","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-30","category-howto","category-unitreego2-4"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/01\/5.avif","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/507","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=507"}],"version-history":[{"count":7,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/507\/revisions"}],"predecessor-version":[{"id":520,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/507\/revisions\/520"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/513"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=507"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=507"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=507"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}