.. rubric:: Gazebo

.. code-block:: bash

    ros2 launch h1_gazebo h1_2_fortress_simulation.launch.py

.. rubric:: Unitree RL Gym

For sim to real deployment please follow instructions at `unitree_rl_gym <https://github.com/unitreerobotics/unitree_rl_gym>`_

.. rubric:: Isaac Lab

Please refer to `Isaac Lab <https://isaac-sim.github.io/IsaacLab/main/index.html>`_ for training and deployment.