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.

cd ~/ros2-essentials/h1_ws/docker
docker compose pull # or docker compose build
xhost +local:docker
docker compose up -d

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

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.