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Unitree H1

Run the container

# Run the container
cd /home/ros2-essentials/h1_ws/docker
docker compose up -d --build
docker exec -it ros2-h1-ws bash

Testing

Isaac Sim Examples

Deploying Policies:

cd ~/isaacsim
./isaac-sim.sh

Window > Examples > Robotics Examples, in the Robotics Examples window, click POLICY > Humanoid > LOAD.

Isaac Lab Examples

Training:

cd ~/IsaacLab
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Velocity-Rough-H1-v0 --headless
# or
./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Velocity-Rough-H1-v0 --headless

Run pre-trained model inference:

cd ~/IsaacLab
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Velocity-Rough-H1-v0 --num_envs 32 --use_pretrained_checkpoint

Run H1 Locomotion Showroom Demo:

cd ~/IsaacLab
export PYTHONPATH=""
./isaaclab.sh -p scripts/demos/h1_locomotion.py

Clearing the PYTHONPATH is necessary to avoid the error:

[INFO] Using python from: /home/user/IsaacLab/_isaac_sim/python.sh
Traceback (most recent call last):
  File "/home/user/IsaacLab/scripts/demos/h1_locomotion.py", line 23, in <module>
    import scripts.reinforcement_learning.rsl_rl.cli_args as cli_args  # isort: skip
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/scripts/__init__.py", line 15, in <module>
    from .gazebo_ros_paths import GazeboRosPaths
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/scripts/gazebo_ros_paths.py", line 32, in <module>
    from catkin_pkg.package import InvalidPackage, PACKAGE_MANIFEST_FILENAME, parse_package
ModuleNotFoundError: No module named 'catkin_pkg'
There was an error running python