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README.md
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This is a simple example of using Unitree Robots for reinforcement learning, including Unitree Go2, H1, H1_2, G1
| Isaac Gym | Mujoco | Physical |
|--- | --- | --- |
| [<img src="https://oss-global-cdn.unitree.com/static/32f06dc9dfe4452dac300dda45e86b34.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/5bbc5ab1d551407080ca9d58d7bec1c8.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/244cd5c4f823495fbfb67ef08f56aa33.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/5aa48535ffd641e2932c0ba45c8e7854.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/78c61459d3ab41448cfdb31f6a537e8b.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) |
## 1. Installation
1. Create a new python virtual env with python 3.8
@ -58,10 +62,9 @@ This is a simple example of using Unitree Robots for reinforcement learning, inc
### 2.1 Play Demo
| Go2 | G1 | H1 | H1_2 |
|--- | --- | --- | --- |
| <video src="https://github.com/user-attachments/assets/98395d82-d3f6-4548-b6ee-8edfce70ac3e" controls="controls" width="400px"></video> | <video src="https://github.com/user-attachments/assets/2d2c2ea9-7816-4754-a3f0-d6d23912c569" controls="controls" width="400px"></video> | <video src="https://github.com/user-attachments/assets/622c8e3f-e82d-413a-b0ff-b0aca0fa22e5" controls="controls" width="400px"></video> | <video src="https://github.com/user-attachments/assets/1ec25467-4101-49c1-8c35-5c109e49e81e" controls="controls" width="400px"></video> |
| [![go2](https://oss-global-cdn.unitree.com/static/ba006789e0af4fe3867255f507032cd7.GIF)](https://oss-global-cdn.unitree.com/static/d2e8da875473457c8d5d69c3de58b24d.mp4) | [![g1](https://oss-global-cdn.unitree.com/static/32f06dc9dfe4452dac300dda45e86b34.GIF)](https://oss-global-cdn.unitree.com/static/5bbc5ab1d551407080ca9d58d7bec1c8.mp4) | [![h1](https://oss-global-cdn.unitree.com/static/fa04e73966934efa9838e9c389f48fa2.GIF)](https://oss-global-cdn.unitree.com/static/522128f4640c4f348296d2761a33bf98.mp4) |[![h1_2](https://oss-global-cdn.unitree.com/static/83ed59ca0dab4a51906aff1f93428650.GIF)](https://oss-global-cdn.unitree.com/static/15fa46984f2343cb83342fd39f5ab7b2.mp4)|
## 3. Sim in Mujoco
@ -85,12 +88,8 @@ python deploy/deploy_mujoco/deploy_mujoco.py g1.yaml
| G1 | H1 | H1_2 |
|--- | --- | --- |
| <video src="https://github.com/user-attachments/assets/9455b595-791e-4715-b280-0e70b9d45c53" controls="controls" width="400px"></video> | <video src="https://github.com/user-attachments/assets/2ff75b99-0186-4195-9ec8-69901e7b6700" controls="controls" width="400px"></video> | <video src="https://github.com/user-attachments/assets/8e3476ff-3d5c-45d4-a227-7565bf885d93" controls="controls" width="400px"></video> |
| [![mujoco_g1](https://oss-global-cdn.unitree.com/static/244cd5c4f823495fbfb67ef08f56aa33.GIF)](https://oss-global-cdn.unitree.com/static/5aa48535ffd641e2932c0ba45c8e7854.mp4) | [![mujoco_h1](https://oss-global-cdn.unitree.com/static/7ab4e8392e794e01b975efa205ef491e.GIF)](https://oss-global-cdn.unitree.com/static/8934052becd84d08bc8c18c95849cf32.mp4) | [![mujoco_h1_2](https://oss-global-cdn.unitree.com/static/2905e2fe9b3340159d749d5e0bc95cc4.GIF)](https://oss-global-cdn.unitree.com/static/ee7ee85bd6d249989a905c55c7a9d305.mp4) |
## 4. Depoly on Physical Robot
| G1 | H1 | H1_2 |
|--- | --- | --- |
| [<img src="https://oss-global-cdn.unitree.com/static/c5667475f51844628911cf032509d80a_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/621806fb837c4f869e5c59efd1d93105.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/42d2332dc3004097896f33d0db027039_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/9c61509fc4f74d21bb707a5fe3ae11aa.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/c49a03fa297a4d178ec3a5b01b9c0bbf_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/e60a0fcd829e417f92a88e78463a695d.mp4) |
reference to [Deploy on Physical Robot(English)](deploy/deploy_real/README.md) | [实物部署（简体中文）](deploy/deploy_real/README.zh.md)

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deploy/deploy_real/README.md
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| G1 | H1 | H1_2 |
|--- | --- | --- |
| ![G1](https://oss-global-cdn.unitree.com/static/d33febc2e63d463091b6defb46c15123.GIF) | ![H1](https://oss-global-cdn.unitree.com/static/a84afcef56914e8aa3f0fc4e5c840772.GIF) | ![H1_2](https://oss-global-cdn.unitree.com/static/df0bdb852e294bd6beedf3d0adbb736f.GIF) |
| [![real_g1](https://oss-global-cdn.unitree.com/static/78c61459d3ab41448cfdb31f6a537e8b.GIF)](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) | [![real_h1](https://oss-global-cdn.unitree.com/static/fa07b2fd2ad64bb08e6b624d39336245.GIF)](https://oss-global-cdn.unitree.com/static/ea0084038d384e3eaa73b961f33e6210.mp4) | [![real_h1_2](https://oss-global-cdn.unitree.com/static/a88915e3523546128a79520aa3e20979.GIF)](https://oss-global-cdn.unitree.com/static/12d041a7906e489fae79d55b091a63dd.mp4) |
## Startup Usage
@ -74,6 +74,10 @@ In motion control mode, press the `select` button on the remote control, the rob
## Video tutorial
| G1 | H1 | H1_2 |
|--- | --- | --- |
| [<img src="https://oss-global-cdn.unitree.com/static/c5667475f51844628911cf032509d80a_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/621806fb837c4f869e5c59efd1d93105.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/42d2332dc3004097896f33d0db027039_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/9c61509fc4f74d21bb707a5fe3ae11aa.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/c49a03fa297a4d178ec3a5b01b9c0bbf_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/e60a0fcd829e417f92a88e78463a695d.mp4) |
deploy on G1 robot: [https://oss-global-cdn.unitree.com/static/ea12b7fb3bb641b3ada9c91d44d348db.mp4](https://oss-global-cdn.unitree.com/static/ea12b7fb3bb641b3ada9c91d44d348db.mp4)
deploy on H1 robot: [https://oss-global-cdn.unitree.com/static/d4e0cdd8ce0d477fb5bffbb1ac5ef69d.mp4](https://oss-global-cdn.unitree.com/static/d4e0cdd8ce0d477fb5bffbb1ac5ef69d.mp4)
deploy on H1_2 robot: [https://oss-global-cdn.unitree.com/static/8120e35452404923b854d9e98bdac951.mp4](https://oss-global-cdn.unitree.com/static/8120e35452404923b854d9e98bdac951.mp4)

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deploy/deploy_real/README.zh.md
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| G1 | H1 | H1_2 |
|--- | --- | --- |
| ![G1](https://oss-global-cdn.unitree.com/static/d33febc2e63d463091b6defb46c15123.GIF) | ![H1](https://oss-global-cdn.unitree.com/static/a84afcef56914e8aa3f0fc4e5c840772.GIF) | ![H1_2](https://oss-global-cdn.unitree.com/static/df0bdb852e294bd6beedf3d0adbb736f.GIF) |
| [![real_g1](https://oss-global-cdn.unitree.com/static/78c61459d3ab41448cfdb31f6a537e8b.GIF)](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) | [![real_h1](https://oss-global-cdn.unitree.com/static/fa07b2fd2ad64bb08e6b624d39336245.GIF)](https://oss-global-cdn.unitree.com/static/ea0084038d384e3eaa73b961f33e6210.mp4) | [![real_h1_2](https://oss-global-cdn.unitree.com/static/a88915e3523546128a79520aa3e20979.GIF)](https://oss-global-cdn.unitree.com/static/12d041a7906e489fae79d55b091a63dd.mp4) |
## 启动用法
@ -72,6 +72,8 @@ python deploy_real.py enp3s0 g1.yaml
## 视频教程
| G1 | H1 | H1_2 |
|--- | --- | --- |
| [<img src="https://oss-global-cdn.unitree.com/static/8e7132fc3062493db93e4eb5005908f4_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/e6c659515ccd437294709e5abb6ae8d8.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/41803de7a8384fa799509ddedb505db4_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/56a0160154d1468f9ed9628e4a43254e.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/76109eb66b7a4d46a347019b1053c4c7_1920x1080.png" width="400px">](https://oss-global-cdn.unitree.com/static/f34ab7b6a7b14e058bbaebfce712db3a.mp4) |
部署在G1上：[https://oss-global-cdn.unitree.com/static/ff70a257ddf34adbb67733d8a90b24d4.mp4](https://oss-global-cdn.unitree.com/static/ff70a257ddf34adbb67733d8a90b24d4.mp4)
部署在H1上：[https://oss-global-cdn.unitree.com/static/6dae1756f4214409a5ced7386ca011ae.mp4](https://oss-global-cdn.unitree.com/static/6dae1756f4214409a5ced7386ca011ae.mp4)
部署在H1_2上：[https://oss-global-cdn.unitree.com/static/9d61a1470d3e4b9a9af6d131324fcb94.mp4](https://oss-global-cdn.unitree.com/static/9d61a1470d3e4b9a9af6d131324fcb94.mp4)