# Isaac Lab: h1 locomotion

Official Isaac Lab python main example for h1 locomotion. Inspect the pinned source and upstream setup before use.

ID: `isaaclab-scripts-demos-h1-locomotion-py`

Record version: `source-de33abfe759765119825dd2d6c5cd549d5fc91f68c3e3abc06f3ce4842f2a7fd`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/isaac-sim/IsaacLab/blob/37ddf626871758333d6ed89cf64ad702aef127d0/README.md

## Source and license

- Repository: https://github.com/isaac-sim/IsaacLab
- Pinned source: https://github.com/isaac-sim/IsaacLab/blob/37ddf626871758333d6ed89cf64ad702aef127d0/scripts/demos/h1_locomotion.py
- Revision: `37ddf626871758333d6ed89cf64ad702aef127d0`
- Path: `scripts/demos/h1_locomotion.py`
- Source SHA256: `de33abfe759765119825dd2d6c5cd549d5fc91f68c3e3abc06f3ce4842f2a7fd`
- Source bytes: 10136
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/isaac-sim/IsaacLab/blob/37ddf626871758333d6ed89cf64ad702aef127d0/LICENSE)
- License scope: Selected example source code only; preserve upstream copyright and per-file notices. Robot models, datasets, weights, simulator binaries and third-party dependencies retain their separate licenses.

License SHA256: `df351ebfa8af317bf5a9ad83df63a8b68e4f5c04b71f30767cdb27aa434eac62`

## Requirements

```json
{
  "python": "Python bundled with the Isaac Sim version required by Isaac Lab v2.3.2",
  "packages": [
    "Isaac Lab v2.3.2 pinned source",
    "Compatible Isaac Sim and GPU driver per pinned upstream installation instructions"
  ],
  "display": "NVIDIA GPU/driver and the compatible Isaac Sim installation are normally required; GUI/headless flags and assets vary. Source code license does not grant a license to Isaac Sim or downloaded robot assets.",
  "execution_domain": "simulation",
  "source_imports": [
    "argparse",
    "carb",
    "isaaclab.app",
    "isaaclab.envs",
    "isaaclab.sim.utils.stage",
    "isaaclab.utils.math",
    "isaaclab_rl.rsl_rl",
    "isaaclab_rl.utils.pretrained_checkpoint",
    "isaaclab_tasks.manager_based.locomotion.velocity.config.h1.rough_env_cfg",
    "omni",
    "omni.kit.viewport.utility",
    "omni.kit.viewport.utility.camera_state",
    "os",
    "pxr",
    "rsl_rl.runners",
    "scripts.reinforcement_learning.rsl_rl.cli_args",
    "sys",
    "torch"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "./isaaclab.sh -p scripts/demos/h1_locomotion.py",
  "notes": "NVIDIA GPU/driver and the compatible Isaac Sim installation are normally required; GUI/headless flags and assets vary. Source code license does not grant a license to Isaac Sim or downloaded robot assets. No Hub preparation adapter or measured runtime success is claimed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Fetched and SHA-256 checked this immutable source; statically parsed Python or located native main; verified pinned license bytes and checked explicit per-file license identifiers. No upstream code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.