{"id":515,"date":"2026-01-22T23:19:35","date_gmt":"2026-01-22T14:19:35","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=515"},"modified":"2026-01-22T23:22:10","modified_gmt":"2026-01-22T14:22:10","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-2","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=515","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\u6e96\u5099\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 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>\u3061\u3087\u3063\u3068\u52d5\u304b\u3057\u3066\u307f\u3088\u3046<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/robolease.disr-inc.com\/?p=515\/#%E5%BF%AB%E9%81%A9%E3%81%AA%E3%82%B3%E3%83%BC%E3%83%87%E3%82%A3%E3%83%B3%E3%82%B0%E7%92%B0%E5%A2%83%E3%81%AE%E3%81%9F%E3%82%81%E3%81%AB\" >\u5feb\u9069\u306a\u30b3\u30fc\u30c7\u30a3\u30f3\u30b0\u74b0\u5883\u306e\u305f\u3081\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/robolease.disr-inc.com\/?p=515\/#%E7%B5%82%E3%82%8F%E3%82%8A%E3%81%AB\" >\u7d42\u308f\u308a\u306b<\/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><strong>\u306f\u3058\u3081\u306b<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u6700\u8fd1\u3001\u7814\u7a76\u5ba4\u30fb\u4f01\u696d\u3067\u3082 Unitree Go2 \u306b\u5f37\u5316\u5b66\u7fd2\uff08RL\uff09\u3092\u5c0e\u5165\u3057\u305f\u3044\u3068\u3044\u3046\u30cb\u30fc\u30ba\u304c\u5897\u3048\u3066\u304d\u3066\u3044\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u3044\u3056\u89e6\u3063\u3066\u307f\u308b\u3068\u3001<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u5168\u4f53\u50cf\u304c\u3064\u304b\u307f\u306b\u304f\u3044\u2026\u2026<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3068\u308a\u3042\u3048\u305a\u52d5\u304b\u3059\u307e\u3067\u304c\u9577\u3044\u2026\u2026<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u306a\u3093\u304b\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3084\u3063\u305f\u3051\u3069<strong>**\u3044\u307e\u3044\u3061\u3088\u304f\u308f\u304b\u3089\u3093**<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u3068\u3044\u3046\u58c1\u306b\u3076\u3064\u304b\u308a\u304c\u3061\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u305d\u3053\u3067\u672c\u30b7\u30ea\u30fc\u30ba\u3067\u306f\u3001<strong>**\u52d5\u304b\u3057\u65b9\u3092\u30b3\u30fc\u30c9\u30d9\u30fc\u30b9\u3067\u3057\u3063\u304b\u308a\u8ffd\u3046**<\/strong>\u3053\u3068\u306b\u632f\u308a\u5207\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4eca\u56de\u306e\u6e96\u5099\u7de8\u3067\u306f\u7d30\u304b\u3044\u89e3\u8aac\u306f\u5f8c\u56de\u3057\u3002\u307e\u305a\u306f\u74b0\u5883\u3092\u6574\u3048\u3066\u3001\u81ea\u5206\u306e\u5f37\u5316\u5b66\u7fd2\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u4f5c\u6210\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p>\u672c\u8a18\u4e8b\u306f\u3001IsaacLab\u3067\u904a\u3076\u305f\u3081\u306e\u6e96\u5099\u7de8\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3092\u30e1\u30a4\u30f3\u3067\u3084\u3063\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%83%B3%E5%AE%9A%E8%AA%AD%E8%80%85\"><\/span><strong>\u60f3\u5b9a\u8aad\u8005<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f37\u5316\u5b66\u7fd2\u3092\u3084\u308a\u305f\u3044\u7814\u7a76\u8005\u30fb\u5b66\u751f\u30fb\u4f01\u696d\u30a8\u30f3\u30b8\u30cb\u30a2<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> Isaac Lab\u3092\u89e6\u308a\u59cb\u3081\u305f\u3070\u304b\u308a\u306e\u4eba<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> \u30b5\u30f3\u30d7\u30eb\u3067\u306f\u306a\u304f\u3001\u81ea\u5206\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u308a\u305f\u3044\u4eba<\/li>\n<\/ul>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E6%9C%AC%E8%A8%98%E4%BA%8B%E3%81%A7%E3%81%A7%E3%81%8D%E3%82%8B%E3%81%93%E3%81%A8\"><\/span><strong> \u672c\u8a18\u4e8b\u3067\u3067\u304d\u308b\u3053\u3068<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Isaac Lab\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> \u81ea\u5206\u306eRL\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u751f\u6210<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> VSCode\u3067\u306e\u30b3\u30fc\u30c7\u30a3\u30f3\u30b0\u74b0\u5883\u306e\u6574\u5099<\/li>\n<\/ul>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%93%E3%81%AE%E8%A8%98%E4%BA%8B%E3%81%AE%E7%92%B0%E5%A2%83\"><\/span><strong> \u3053\u306e\u8a18\u4e8b\u306e\u74b0\u5883<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>IsaacSim: 5.1.0<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>IsaacLab: 2.3<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> OS \u00a0 \u00a0 \u00a0: Ubuntu 22.04.5 LTS (Jammy Jellyfish)<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> GPU \u00a0 \u00a0 : NVIDIA GeForce RTX 3090<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> Driver \u00a0: 580.95.05<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> CUDA \u00a0 \u00a0: 13.0<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li> Python \u00a0: uv\u4eee\u60f3\u74b0\u5883\uff08Python 3.11\uff09<\/li>\n<\/ul>\n\n\n\n<p><a href=\"https:\/\/forums.developer.nvidia.com\/t\/isaac-sim-detects-wrong-driver-version-on-ubuntu-24-04-with-rtx-4060-laptop\/348110\" title=\"\">\u3053\u306e\u30d5\u30a9\u30fc\u30e9\u30e0<\/a>\u306e\u3088\u3046\u306b\u3001`nvidia-driver-535`&amp;`cuda12.2`\u306e\u7d44\u307f\u5408\u308f\u305b\u306f\u5931\u6557\u3059\u308b\u6050\u308c\u304c\u3042\u308a\u307e\u3059\u3002\u307e\u305f\u3001\u3053\u306e\u8a18\u4e8b\u306fIsaaSim5\u7cfb\u3067\u306e\u74b0\u5883\u69cb\u7bc9\u3092\u60f3\u5b9a\u3057\u3066\u3044\u308b\u306e\u3067\u3001uv\u3067\u4f7f\u7528\u3059\u308bpython\u306f3.11\u7cfb\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%92%B0%E5%A2%83%E6%A7%8B%E7%AF%89\"><\/span><strong> \u74b0\u5883\u69cb\u7bc9<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p><a href=\"https:\/\/isaac-sim.github.io\/IsaacLab\/main\/source\/setup\/installation\/pip_installation.html\" target=\"_blank\" rel=\"noopener\" title=\"\">\u516c\u5f0f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30ac\u30a4\u30c9<\/a><\/p>\n\n\n\n<p>\u57fa\u672c\u7684\u306b\u306f\ud83d\udc46\u306b\u5f93\u3048\u3070OK\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u500b\u4eba\u7684\u306b\u306f<strong>**uv**<\/strong>\u3067\u306e\u74b0\u5883\u69cb\u7bc9\u3092\u5f37\u304f\u304a\u52e7\u3081\u3057\u307e\u3059\u3002\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3082\u65e9\u3044\u3057\u3001pip\u3068\u306e\u4e92\u63db\u6027\u304c\u3042\u308b\u306e\u3067\u975e\u5e38\u306b\u4f7f\u3044\u3084\u3059\u3044\u3067\u3059\u3002uv\u3092\u5165\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u306f<a href=\"https:\/\/docs.astral.sh\/uv\/getting-started\/installation\/\" target=\"_blank\" rel=\"noopener\" title=\"\">\u3053\u3061\u3089<\/a>\u304b\u3089\u3002<\/p>\n\n\n\n<p>uv\u3092\u4f7f\u7528\u3057\u305f\u5834\u5408\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u6cd5<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>git clone https:\/\/github.com\/isaac-sim\/IsaacLab.git\n\ncd IsaacLab<\/code><\/pre>\n\n\n\n<p>uv\u74b0\u5883\u306f\u5c02\u7528\u306eshell script\u3092\u7528\u3044\u3066\u4f5c\u308a\u307e\u3059\u3002\u305d\u3046\u3057\u306a\u3044\u3068\u3053\u306e\u5f8c\u5229\u7528\u3059\u308b`isaaclab`\u30b3\u30de\u30f3\u30c9\u304c\u4f7f\u7528\u3067\u304d\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>.\/isaaclab.sh -u\n\nsource env_isaaclab\/bin\/activate<\/code><\/pre>\n\n\n\n<p>\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u4e0a\u3067\u306f\u3001\u69cb\u7bc9\u5f8c\u306b`isaaclab -i`\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u59cb\u3081\u308b\u3088\u3046\u306b\u6307\u793a\u304c\u3042\u308a\u307e\u3059\u304c\u3001IsaacSim\u304c\u5165\u3063\u3066\u3044\u306a\u3044\u3068\u3046\u307e\u304f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u306a\u3044\u306e\u3067\u3001\u5148\u306b\u5165\u308c\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>IsaacSim\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>uv pip install \"isaacsim&#91;all,extscache]==5.1.0\" --extra-index-url https:\/\/pypi.nvidia.com<\/code><\/pre>\n\n\n\n<p>\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u4e0a\u3067\u306f\u3001\u69cb\u7bc9\u5f8c\u306b`isaaclab -i`\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u59cb\u3081\u308b\u3088\u3046\u306b\u6307\u793a\u304c\u3042\u308a\u307e\u3059\u304c\u3001IsaacSim\u304c\u5165\u3063\u3066\u3044\u306a\u3044\u3068\u3046\u307e\u304f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u306a\u3044\u306e\u3067\u3001\u5148\u306b\u5165\u308c\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>bash:IsaacLab\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>isaaclab -i<\/code><\/pre>\n\n\n\n<p>uv\u3092\u4f7f\u3063\u305f\u5834\u5408\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306fvscode\u95a2\u9023\u306e\u30a8\u30e9\u30fc\u3067\u7d42\u308f\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/isaac-sim.github.io\/IsaacLab\/main\/source\/overview\/developer-guide\/vs_code.html\" target=\"_blank\" rel=\"noopener\" title=\"\">\u3053\u3061\u3089<\/a>\u3067\u8aac\u660e\u3055\u308c\u3066\u3044\u308b\u3088\u3046\u306b\u3001\u30d0\u30a4\u30ca\u30ea\u3092\u7528\u3044\u305f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u306a\u3044\u3068\u6a5f\u80fd\u3057\u306a\u3044\u4ed5\u7d44\u307f\u306a\u306e\u3067\u4eca\u306f<strong>**\u7121\u8996**<\/strong>\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3069\u3046\u305b`setting.json`\u3092\u3044\u3058\u308b\u3060\u3051\u306a\u306e\u3067\u3001\u5f8c\u3067\u5bfe\u51e6\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%97%E3%83%AD%E3%82%B8%E3%82%A7%E3%82%AF%E3%83%88%E3%81%AE%E4%BD%9C%E6%88%90\"><\/span><strong>\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u4f5c\u6210<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u305d\u306e\u307e\u307e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068\u304b\u3084\u308d\u3046\u3068\u3059\u308b\u3068\u3001\u3044\u304d\u306a\u308a\u6df1\u3044\u8a71\u304c\u304d\u3066\u6df7\u4e71\u3059\u308b\u306e\u3067\u3001\u307e\u305a\u81ea\u5206\u3067\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p>bash:\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u4f5c\u6210<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>isaaclab -n<\/code><\/pre>\n\n\n\n<p>\u3053\u3053\u304b\u3089\u5148\u306e\u8a2d\u5b9a\u304c\u3061\u3087\u3063\u3068\u308f\u304b\u308a\u306b\u304f\u3044\u306e\u3067\u3001\u7d30\u304b\u304f\u8aac\u660e\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u8a2d\u5b9a<\/li>\n<\/ul>\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\/1a9bdc06-d90e-459b-91b8-185df78353d4.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5f8c\u3067\u5909\u66f4\u3067\u304d\u307e\u3059\u304c\u3001\u3068\u308a\u3042\u3048\u305a`Direct`\u30e2\u30fc\u30c9\u306f\u81ea\u5206\u3067\u30b3\u30fc\u30c9\u3092\u3044\u3063\u3071\u3044\u66f8\u304b\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u4e0a\u7d1a\u8005\u5411\u3051\u306a\u306e\u3067\u3001`Manager-based`+`single-agent`\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f37\u5316\u5b66\u7fd2\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u9078\u629e<\/li>\n<\/ul>\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\/86c4e96d-16e6-4192-a8a1-f751604b8de8.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u660e\u3089\u304b\u306b`skrl`\u306e\u81ea\u7531\u5ea6\u304c\u9ad8\u3044\u306e\u3067\u3001\u3053\u308c\u3092\u9078\u629e\u3057\u3066\u304a\u3051\u3070\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>&#8211; \u5f37\u5316\u5b66\u7fd2\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u9078\u629e<\/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\/df815484-7c94-4a86-a132-17bb4ba98c1f.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>`AMP`\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304b`PPO`\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u304b\u3069\u3063\u3061\u304b\u9078\u3079\u3068\u3042\u308a\u307e\u3059\u3002\u6700\u521d\u306b\u751f\u6210\u3055\u308c\u308b\u30d5\u30a1\u30a4\u30eb\u304c\u3061\u3087\u3063\u3068\u7570\u306a\u308b\u304f\u3089\u3044\u3067\u3001\u5225\u306b\u3069\u3063\u3061\u3092\u9078\u3093\u3067\u3082\u554f\u984c\u306a\u3044\u3067\u3059\u304c\u3001\u3068\u308a\u3042\u3048\u305a`PPO`\u3092\u9078\u3093\u3067\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u8a73\u7d30\u306f\u3053\u3053\u3067\u306f\u8aac\u660e\u3057\u307e\u305b\u3093\u304c\u3001\u8981\u3059\u308b\u306b\u3001\u5f37\u5316\u5b66\u7fd2\u3092\u3046\u307e\u3044\u3053\u3068\u753b\u50cf\u8a8d\u8b58\u3068\u304b\u3067\u3088\u304f\u4f7f\u308f\u308c\u308b\u30cb\u30e5\u30fc\u30e9\u30eb\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306e\u5f62\u306b\u3059\u308b\u305f\u3081\u306e\u624b\u6cd5\u3067\u3059\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%A1%E3%82%87%E3%81%A3%E3%81%A8%E5%8B%95%E3%81%8B%E3%81%97%E3%81%A6%E3%81%BF%E3%82%88%E3%81%86\"><\/span><strong> \u3061\u3087\u3063\u3068\u52d5\u304b\u3057\u3066\u307f\u3088\u3046<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u6674\u308c\u3066\u81ea\u5206\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u308c\u307e\u3057\u305f\uff01\u3068\u3044\u3063\u305f\u3068\u3053\u308d\u3067\u3001\u65e9\u901f\u52d5\u304b\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002IsaacLab\u306e\u516c\u5f0f\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068\u304b\u3092\u8aad\u3080\u3068\u3001<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python\/scripts\/skrl\/train.py --task=$YOUR_TASK #\u8a13\u7df4\n\npython\/scripts\/skrl\/play.py --task=$YOUR_TASK #\u30d7\u30ec\u30a4<\/code><\/pre>\n\n\n\n<p>\u3067\u8a13\u7df4\u3057\u3066\u306f\u8a66\u3057\u3066\u307f\u308b\u307f\u305f\u3044\u306a\u30d5\u30ed\u30fc\u307f\u305f\u3044\u3067\u3059\u306d\u3002\u3053\u3053\u3067\u3001\u300c\u3044\u3084\u3001\u3053\u306e`task`\u3063\u3066\u306a\u3093\u3084\u306d\u3093\uff01\u300d\u3063\u3066\u306a\u3063\u3066\u3057\u307e\u3046\u306e\u3067\u3001\u307e\u305a\u306f\u5168\u4f53\u611f\u3092\u63b4\u3080\u305f\u3081\u306b`README.md`\u3092\u8aad\u3093\u3067\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p>\u4e2d\u8eab\u304c\u3061\u3087\u3063\u3068\u53e4\u3044\u306e\u3067\u5168\u90e8\u8aad\u3080\u4fa1\u5024\u306f\u6b63\u76f4\u306a\u3044\u306e\u3067\u3059\u304c\u3001\u5927\u4e8b\u306a\u3068\u3053\u308d\u3060\u3051\u3053\u308c\u304b\u3089\u898b\u305b\u3066\u3044\u304d\u307e\u3059\u3002\u3068\u308a\u3042\u3048\u305a\u3053\u308c\u306b\u3088\u308b\u3068\u3001\u307e\u305a\u81ea\u5206\u306e\u4f5c\u6210\u3057\u305f\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u30e9\u30a4\u30d6\u30e9\u30ea\u5316\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>#python -m pip install -e source\/$YOUR_PROJECT\n\nuv pip install -e source\/$YOUR_PROJECT<\/code><\/pre>\n\n\n\n<p>\u3053\u308c\u304c\u3046\u307e\u304f\u3044\u304f\u3068\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b`task`\u304cIsaacLab\u306b\u767b\u9332\u3055\u308c\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u305d\u308c\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python scripts\/list_envs.py<\/code><\/pre>\n\n\n\n<p>\u3068\u3059\u308b\u3068\u3001<\/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\/98b0585a-81cc-4357-a802-d2fd92c04bda.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u3053\u3093\u306a\u611f\u3058\u3067\u3001\u73fe\u5728\u4f7f\u7528\u53ef\u80fd\u306a\u30bf\u30b9\u30af\u540d\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u30bf\u30b9\u30af\u767b\u9332\u306e\u8a73\u7d30<\/p>\n\n\n\n<p>\u305d\u3082\u305d\u3082\u3053\u306e\u8fba\u306e\u30bf\u30b9\u30af\u3063\u3066\u3069\u3046\u3084\u3063\u3066\u767b\u9332\u3055\u308c\u308b\u3093\u3060\u3063\u3066\u8a71\u306a\u306e\u3067\u3059\u304c\u3001<\/p>\n\n\n\n<p>tasks\/manager_based\/YOUR_PROJECT_NAME\/__init__.py<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: python; title: ; notranslate\" title=\"\">\ngym.register(\n\n\u00a0 \u00a0 id=&quot;Template-Disr-Inc-Lab-v0&quot;,\n\n\u00a0 \u00a0 entry_point=&quot;isaaclab.envs:ManagerBasedRLEnv&quot;,\n\n\u00a0 \u00a0 disable_env_checker=True,\n\n\u00a0 \u00a0 kwargs={\n\n\u00a0 \u00a0 \u00a0 \u00a0 &quot;env_cfg_entry_point&quot;: f&quot;{__name__}.disr_inc_lab_env_cfg:DisrIncLabEnvCfg&quot;,\n\n\u00a0 \u00a0 \u00a0 \u00a0 &quot;skrl_cfg_entry_point&quot;: f&quot;{__name__}.agent_cfg:unitree_go2_agent_cfg&quot;,\n\n\u00a0 \u00a0 \u00a0 \u00a0 &quot;skrl_amp_cfg_entry_point&quot;: f&quot;{agents.__name__}:skrl_amp_cfg.yaml&quot;,\n\n\u00a0 \u00a0 },\n\n)\n<\/pre><\/div>\n\n\n<p>\u521d\u51fa\u306f\u3053\u306e\u8fba\u3067\u3059\u3002\u8981\u3059\u308b\u306b`import YOUR_PROJECT_NAME.tasks.manager_based.YOUR_PROJECT_NAME`\u3059\u308b\u3068\u767b\u9332\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u8d70\u308b\u308f\u3051\u3067\u3059\u306d\u3002\u305d\u308c\u3067\u3001`list_envs.py`\u306b\u306f<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>import YOUR_PROJECT_NAME.tasks \u00a0# noqa: F401<\/code><\/pre>\n\n\n\n<p>\u3068\u3044\u3046\u8a18\u8ff0\u3060\u3051\u304c\u3042\u308b\u306e\u3067\u3059\u304c\u3001<\/p>\n\n\n\n<p>tasks.__init___.py<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: python; title: ; notranslate\" title=\"\">\nfrom isaaclab_tasks.utils import import_packages\n\n# The blacklist is used to prevent importing configs from sub-packages\n\n_BLACKLIST_PKGS = &#x5B;&quot;utils&quot;, &quot;.mdp&quot;]\n\n# Import all configs in this package\n\nimport_packages(__name__, _BLACKLIST_PKGS)\n<\/pre><\/div>\n\n\n<p>\u3053\u306e`import_packages`\u3068\u3044\u3046\u95a2\u6570\u306f\u3001`os.walk`\u306bimport\u6a5f\u80fd\u304c\u3064\u3044\u305f\u3088\u3046\u306a\u95a2\u6570\u3067\u3001`tasks`\u4ee5\u4e0b\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u518d\u5e30\u7684\u306bimport\u3057\u307e\u3059\u3002\u518d\u5e30\u7684\u306b\u8d70\u67fb\u3059\u308b\u4e2d\u3067\u3001`import YOUR_PROJECT_NAME.tasks.manager_based.YOUR_PROJECT_NAME`\u3082\u5f53\u7136\u884c\u3044\u307e\u3059\u3002\u3067\u3059\u306e\u3067\u3001`tasks`\u4ee5\u4e0b\u3067\u8a18\u8ff0\u3057\u305f\u30aa\u30ea\u30b8\u30ca\u30eb\u30bf\u30b9\u30af\u3092\u5168\u3066\u767b\u9332\u53ef\u80fd\u3068\u3044\u3046\u308f\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<p>\ud83d\udc46\u306e\u8a73\u7d30\u306f\u5225\u306b\u8aad\u307e\u306a\u304f\u3066\u3044\u3044\u3067\u3059\u304c\u3001<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u81ea\u5206\u306e\u30bf\u30b9\u30af\u306f\u3001<strong>**`tasks\/manager_based\/YOUR_PROJECT_NAME\/__init__.py`\u3067\u767b\u9332\u3055\u308c\u3066\u3044\u308b**<\/strong><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>**\u81ea\u5206\u306e\u4f5c\u6210\u3057\u305f\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3067\u306f\u3001\u81ea\u5206\u306e\u4f5c\u3063\u305f\u30bf\u30b9\u30af\u3057\u304b\u4f7f\u3048\u306a\u3044**<\/strong><a href=\"https:\/\/isaac-sim.github.io\/IsaacLab\/main\/source\/overview\/environments.html\" title=\"\">\u3053\u3053<\/a>\u306b\u3042\u308b\u30bf\u30b9\u30af\u306f\u3001`IsaacLab`\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u4e0b\u3067\u306a\u3044\u3068\u4f7f\u7528\u4e0d\u53ef\u80fd\uff01\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>`import YOUR_PROJECT_NAME.tasks`\u306f\u3001<strong>**\u4e00\u898b\u4f55\u306b\u3082\u4f7f\u3063\u3066\u3044\u306a\u3044\u3088\u3046\u306b\u898b\u3048\u308b\u304c\u3001\u6d88\u3059\u3068\u52d5\u304b\u306a\u304f\u306a\u308b\u306e\u3067\u89e6\u3063\u3061\u3083\u30c0\u30e1**<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u306e3\u70b9\u3060\u3051\u899a\u3048\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<p>\u3053\u3053\u304b\u3089\u306e\u30b3\u30fc\u30c9\u3092\u30b3\u30d4\u30da\u3067\u6e08\u307e\u3059\u305f\u3081\u306b\u3001\u4eca\u30c1\u30a7\u30c3\u30af\u3057\u305f\u30bf\u30b9\u30af\u540d\u3092\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u74b0\u5883\u5909\u6570\u306b\u767b\u9332\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>export YOUR_TASK=\"\u3055\u3063\u304d\u8868\u793a\u3055\u308c\u305f\u30bf\u30b9\u30af\u540d\"<\/code><\/pre>\n\n\n\n<p>\u5b9f\u306f\u3001\u30e2\u30c7\u30eb\u3092\u52d5\u304b\u3059\u305f\u3081\u306b\u306f\u3001`train.py`\u3067\u751f\u6210\u3055\u308c\u308b`logs\/(train Date)\/agent_xxxx.pt`\u30d5\u30a1\u30a4\u30eb\u304c\u5fc5\u8981\uff08\u30cb\u30e5\u30fc\u30e9\u30eb\u30cd\u30c3\u30c8\u306e\u91cd\u307f\u304c\u66f8\u304d\u8fbc\u307e\u308c\u305f\u30d5\u30a1\u30a4\u30eb\uff09\u3067\u3059\u3002\u521d\u671f\u306e\u6bb5\u968e\u3060\u3068\u3053\u308c\u304c\u306a\u3044\u306e\u3067\u3001\u666e\u901a\u306b`play.py`\u3057\u3066\u3082\u52d5\u304d\u307e\u305b\u3093\u3002\u3053\u306e\u307e\u307e\u3060\u3068\u3046\u307e\u304f\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u304c\u4f5c\u6210\u3067\u304d\u3066\u3044\u308b\u304b\u3088\u304f\u308f\u304b\u3089\u306a\u3044\u306e\u3067\u56f0\u3063\u3066\u3057\u307e\u3046\u306e\u3067\u3059\u304c\u3001\u3061\u3087\u3046\u3069\u3088\u304f`README.md`\u306b\u3053\u3093\u306a\u8a18\u8f09\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n- Random-action agent\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 ```bash\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 # use &#039;FULL_PATH_TO_isaaclab.sh|bat -p&#039; instead of &#039;python&#039; if Isaac Lab is not installed in Python venv or conda\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 python scripts\/random_agent.py --task=&amp;lt;TASK_NAME&gt;\n\n\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 ```\n<\/pre><\/div>\n\n\n<p>\u300c\u306a\u3093\u304b\u9069\u5f53\u306b\u52d5\u304b\u3059\u300d\u3060\u3051\u306e\u74b0\u5883\u30c1\u30a7\u30c3\u30af\u7528\u30b3\u30fc\u30c9\u3068\u3057\u3066\u3001`random_agent.py`\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3092\u4f7f\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff01<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python scripts\/random_agent.py --task=$YOUR_TASK<\/code><\/pre>\n\n\n\n<p>\u305d\u3046\u3059\u308b\u3068\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306bCartPole\uff08\u5012\u7acb\u632f\u5b50\uff09\u304c\u52d5\u304f\u306e\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\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\/62a828fa-9954-4af1-ad3c-199e726dbc70.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u3068\u308a\u3042\u3048\u305a\u3053\u3053\u307e\u3067\u304d\u305f\u3089\u3001\u3042\u3068\u306f\u30ed\u30dc\u30c3\u30c8\u3092\u5dee\u3057\u66ff\u3048\u305f\u308a\u3057\u3066\u904a\u3076\u3053\u3068\u304c\u3067\u304d\u308b\u306e\u3067\u3001\u74b0\u5883\u69cb\u7bc9\u5b8c\u4e86\u3067\u3059\uff01<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%BF%AB%E9%81%A9%E3%81%AA%E3%82%B3%E3%83%BC%E3%83%87%E3%82%A3%E3%83%B3%E3%82%B0%E7%92%B0%E5%A2%83%E3%81%AE%E3%81%9F%E3%82%81%E3%81%AB\"><\/span><strong> \u5feb\u9069\u306a\u30b3\u30fc\u30c7\u30a3\u30f3\u30b0\u74b0\u5883\u306e\u305f\u3081\u306b<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u3053\u3053\u304b\u3089\u5148\u3067\u3001\u30b3\u30fc\u30c7\u30a3\u30f3\u30b0\u74b0\u5883\u3092\u6574\u3048\u308b\u305f\u3081\u306e`setting.json`\u306e\u8a2d\u5b9a\u3092\u884c\u3063\u3066\u3044\u304d\u307e\u3059\u3002\u5148\u307b\u3069\u8aac\u660e\u3057\u305f\u3088\u3046\u306b\u3001pip\u3067\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u5834\u5408\u3001\u3053\u306e\u8a2d\u5b9a\u306f\u624b\u52d5\u3067\u3084\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u73fe\u6bb5\u968e\u3060\u3068\u3001<\/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\/6c958187-1572-4ae1-b0a8-dca43572a3cf.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u3053\u3093\u306a\u306e\u304c\u51fa\u3066\u304d\u305f\u3089\u30b9\u30c8\u30ec\u30b9\u3067\u4f55\u3082\u624b\u306b\u3064\u304d\u307e\u305b\u3093\u306d&#8230;<\/p>\n\n\n\n<p>\u30a4\u30f3\u30c6\u30ea\u30bb\u30f3\u30b9\u304c\u52b9\u304f\u3088\u3046\u306b\u3057\u306a\u3044\u3068\u3001\u3053\u3053\u304b\u3089\u5148\u3081\u3061\u3083\u304f\u3061\u3083\u82e6\u52b4\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>:~\/YOUR_PROJECT_NAME\/YOUR_PROJECT_NAME\/.vscode\/settings.json<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n&quot;python.analysis.extraPaths&quot;: &#x5B;\n\n\u00a0 \u00a0 \u00a0 \u00a0 &quot;${workspaceFolder}\/source\/&amp;lt;YOUR_PROJECT_NAME&gt;&quot;,\n\n]\n<\/pre><\/div>\n\n\n<p>\u521d\u671f\u306e\u6bb5\u968e\u3067\u306f\u3053\u3093\u306a\u611f\u3058\u3067\u3059\u3002\u5b9f\u306fIsaacLab\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u306f`site-packages`\u4ee5\u4e0b\u306b\u683c\u7d0d\u3055\u308c\u308b\u308f\u3051\u3067\u306f\u306a\u3044\u306e\u3067\u3001\u521d\u671f\u306e\u307e\u307e\u3060\u3068\u30a4\u30f3\u30c6\u30ea\u30bb\u30f3\u30b9\u306f\u5f79\u306b\u7acb\u3061\u307e\u305b\u3093\u3002`python.analysis.extraPaths`\u306b<strong>**\u624b\u52d5\u3067\u3053\u308c\u3089\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u5165\u308c\u3066\u3042\u3052\u307e\u3059**<\/strong>\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python\n\n> import isaaclab\n\n> isaaclab.__path__\n\n\/home\/ubuntu\/IsaacLab\/source\/isaaclab\/isaaclab<\/code><\/pre>\n\n\n\n<p>\u306e\u3088\u3046\u306b\u3059\u308b\u3068\u3001`isaaclab`\u306e\u5b9f\u4f53\u306e\u4f4d\u7f6e\u304c\u308f\u304b\u308b\u306e\u3067\u3001\u3053\u306e\u30d1\u30b9\u306e<strong>**\u89aa\u30c7\u30a3\u30ec\u30af\u30c8\u30ea**<\/strong>\u3092`extraPaths`\u306b\u8ffd\u52a0\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p>~\/YOUR_PROJECT_NAME\/YOUR_PROJECT_NAME\/.vscode\/settings.json<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\"python.analysis.extraPaths\": &#91;\n\n\u00a0 \u00a0 \u00a0 \u00a0 \"${workspaceFolder}\/source\/&lt;YOUR_PROJECT_NAME>\",\n\n\u00a0 \u00a0 \u00a0 \u00a0 \"\/home\/ubuntu\/IsaacLab\/source\/isaaclab\/\",\n\n]<\/code><\/pre>\n\n\n\n<p>\u5b9f\u306f`isaaclab`\u306b\u306f\u3001`isaaclab_tasks`\u3084`isaaclab_rl`\u306e\u3088\u3046\u306a\u5144\u5f1f\u30e9\u30a4\u30d6\u30e9\u30ea\u304c\u3042\u308b\u306e\u3067\u3001\u3053\u308c\u3089\u3082\u540c\u3058\u8981\u9818\u3067\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>~\/YOUR_PROJECT_NAME\/YOUR_PROJECT_NAME\/.vscode\/settings.json<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\"python.analysis.extraPaths\": &#91;\n\n\u00a0 \u00a0 \u00a0 \u00a0 \"${workspaceFolder}\/source\/&lt;YOUR_PROJECT_NAME>\",\n\n\u00a0 \u00a0 \u00a0 \u00a0 \"\/home\/ubuntu\/IsaacLab\/source\/isaaclab\/\",\n\n\u00a0 \u00a0 \u00a0 \u00a0 \"\/home\/ubuntu\/IsaacLab\/source\/isaaclab_tasks\/\",\n\n\u00a0 \u00a0 \u00a0 \u00a0 \"\/home\/ubuntu\/IsaacLab\/source\/isaaclab_rl\/\",\n\n\u00a0 \u00a0 \u00a0 \u00a0 \"\/home\/ubuntu\/IsaacLab\/source\/isaaclab_assets\/\"\n\n]<\/code><\/pre>\n\n\n\n<p>\u3053\u308c\u304f\u3089\u3044\u3084\u308c\u3070\u3001\u3068\u308a\u3042\u3048\u305a<\/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\/40a00375-5737-452c-a914-f03dbaedea5a.png\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u307e\u3068\u3082\u306b\u958b\u767a\u304c\u3067\u304d\u305d\u3046\u3067\u3059\u3002<\/p>\n\n\n\n<h1 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><\/h1>\n\n\n\n<p>\u3053\u3053\u307e\u3067\u3067\u3001IsaacLab\u306e\u6700\u65b0\u74b0\u5883\u3067\u904a\u3076\u305f\u3081\u306e\u6e96\u5099\u304c\u6574\u3044\u307e\u3057\u305f\uff01\u7d9a\u3044\u3066\u3001IsaacLab\u3067\u5177\u4f53\u7684\u306b\u5f37\u5316\u5b66\u7fd2\u3092\u884c\u3046\u305f\u3081\u306e\u30d5\u30ed\u30fc\u3092\u7d30\u304b\u304f\u89e3\u8aac\u3057\u3066\u3044\u3053\u3046\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"\u306f\u3058\u3081\u306b \u6700\u8fd1\u3001\u7814\u7a76\u5ba4\u30fb\u4f01\u696d\u3067\u3082 Unitree Go2 \u306b\u5f37\u5316\u5b66\u7fd2\uff08RL\uff09\u3092\u5c0e\u5165\u3057\u305f\u3044\u3068\u3044\u3046\u30cb\u30fc\u30ba\u304c\u5897\u3048\u3066\u304d\u3066\u3044\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u3044\u3056\u89e6\u3063\u3066\u307f\u308b\u3068\u3001 \u3068\u3044\u3046\u58c1\u306b\u3076\u3064\u304b\u308a\u304c\u3061\u3067\u3059\u3002 \u305d\u3053\u3067\u672c\u30b7\u30ea\u30fc\u30ba\u3067\u306f\u3001**\u52d5\u304b\u3057\u65b9\u3092\u30b3\u30fc\u30c9 [&hellip;]","protected":false},"author":1,"featured_media":518,"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":[30,31],"tags":[],"class_list":["post-515","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-30","category-unitreego2-4"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2026\/01\/2.avif","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/515","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=515"}],"version-history":[{"count":1,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/515\/revisions"}],"predecessor-version":[{"id":519,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/515\/revisions\/519"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/518"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=515"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=515"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=515"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}