Unitree H1

Please note that this workspace is only tested in simulation.

🐳 Start Container

Make sure your system meets the system requirements and have followed the setup instructions before using this workspace.

Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use ssh -X or ssh -Y).

cd ~/ros2-essentials/h1_ws/docker
docker compose build
xhost +local:docker
docker compose up -d
# The initial build will take a while, please wait patiently.

If your user's UID is 1000, you may replace the docker compose build command with docker compose pull.

The commands in the following sections assume that you are inside the Docker container:

# in a new terminal
docker exec -it ros2-h1-ws bash

If the initial build somehow failed, run:

rm -r build install
colcon build --symlink-install

Once you have finished testing, you can stop and remove the container with:

docker compose down

If you encountered unexpected issues when using Isaac Sim, see Known Issues for more details.

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 environments (Isaac-Velocity-Flat-H1-v0, Isaac-Velocity-Rough-H1-v0):

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

Custom Isaac Sim Environment

Run ~/isaacsim/isaac-sim.sh and open /home/ros2-essentials/h1_ws/isaacsim/assets/h1_og.usda in Omniverse, and then press Play.

In another terminal, exec into the container:

docker exec -it ros2-go2-ws bash

Inspect the joint states and clock:

ros2 topic echo /joint_states
ros2 topic echo /clock

Inspect TF and Odom by launching rviz2 and set Fixed Frame to world and Add > TF. Then, Add > Odometry and set Topic to /odom.

Send a joint command:

ros2 topic pub --once /joint_command sensor_msgs/msg/JointState "{
  name: [
    'left_hip_yaw_joint',
    'right_hip_yaw_joint',
    'torso_joint',
    'left_hip_roll_joint',
    'right_hip_roll_joint',
    'left_shoulder_pitch_joint',
    'right_shoulder_pitch_joint',
    'left_hip_pitch_joint',
    'right_hip_pitch_joint',
    'left_shoulder_roll_joint',
    'right_shoulder_roll_joint',
    'left_knee_joint',
    'right_knee_joint',
    'left_shoulder_yaw_joint',
    'right_shoulder_yaw_joint',
    'left_ankle_joint',
    'right_ankle_joint',
    'left_elbow_joint',
    'right_elbow_joint'
  ],
  position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.57, -1.57, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  velocity: [],
  effort: []
}"

The H1 should split its legs and fall to the ground, which can be seen in both Isaac Sim and RViz2.