Manuals ======= .. image:: media/gifs/h1_hello.gif :width: 100% The following text contains hyperlinks. Click on them to be redirected to the websites. - `Unitree Documentation `__ - `Isaac Lab documentation `__ - `Issac Lab H1 Deployment `__ Mobile Apps =========== - `H1 iOS `__ - `H1 Android `__ .. H1 Apps Binding .. ================ .. To set up the app, you can either download it from the provided links or search for it directly by the name "Unitree H1" on the App Store or Play Store. .. Once you have downloaded the app, please follow these steps: .. - Download and open the Unitree Go App. Register an account using your email address on the login page of the home screen and log in. .. .. image:: media/figures/H1_Binding_1.jpg .. :width: 50% .. - Click on the home page to add a robot. .. .. image:: media/figures/H1_Binding_2.jpg .. :width: 50% .. - Then, turn on the power of H1 and simultaneously enable the Bluetooth on your mobile phone. Select the device you want to add for binding. .. .. image:: media/figures/H1_Binding_3.jpg .. :width: 50% .. - Customize the robot's information as per your preferences. .. .. image:: media/figures/H1_Binding_4.jpg .. :width: 50% .. - H1 needs to establish a connection with the app. After binding the robot, you will have two connection modes: AP router and Wi-Fi. Choose the one that suits your needs. .. .. image:: media/figures/H1_Binding_5.jpg .. :width: 50% .. - If you select **AP Mode**, follow the prompts to set the hotspot name (H1-XXXXXX) and an 8-digit password. Open the wireless LAN settings on your mobile phone,select the Wi-Fi name you just configured, and enter the password to complete the connection. Once the connection is established, return to the Unitree Go App and click "I'm done" to confirm a successful connection between H1 and the app. .. .. image:: media/figures/H1_Binding_6.jpg .. :width: 50% .. .. image:: media/figures/H1_Binding_7.jpg .. :width: 50% .. - If you choose **Wi-Fi connection mode**, select this mode to establish a connection. Pick an existing Wi-Fi network and enter the password. Wait for the connection to be established. After the Wi-Fi connection is completed, return to the Unitree Go App's home page, confirming that H1 and the app are successfully connected. .. .. image:: media/figures/H1_Binding_8.jpg .. :width: 50% .. .. image:: media/figures/H1_Binding_9.jpg .. :width: 50% .. You can access the App Binding video by following the provided link below. .. - `H1 App Binding `__ .. Additionally, the following video demonstrates how to adjust the robot's perspective view within the app after completing the setup. .. - `H1 Prospective Switch `__ .. Multi-H1 Binding .. ================= .. To bind more then one H1 with your app (considering you already have a H1 binded with the app)please follow the below mentioned steps: .. - On the main screen please select the name of your robot mentioned on the top-left corner of the app. .. .. image:: media/figures/Multi-H11.jpeg .. :width: 50% .. - select the plus sign besides the already binded robot. .. .. image:: media/figures/Multi-H12.jpeg .. :width: 50% .. - Now follow the same steps as mentioned in the above section to setup your additional H1 .. H1 Remote Control Binding .. =========================== .. To pair a remote control with the H1, follow these steps: .. - While the robot is powered on and connected to your mobile device, go to EMPLACE -> data -> Remote Control from the app's home screen. .. .. image:: media/gifs/remote1.gif .. :width: 50% .. - Choose change to modify the ID of the currently paired remote to match the new one you have. .. - Enter the 6-digit ID found on the white sticker on the right front side of the remote, then confirm to bind the remote controller. .. .. image:: media/gifs/remote2.gif .. :width: 50% .. For a visual guide on Remote Control Binding, access the video through the provided link below. .. - `H1 Accompany Mode `__ Powering On =========== 1. Place H1 on the ground and secure it with a rope tied in a dead knot at H1's shoulder latch. 2. Hang the rope on the clasp of the protective frame to support H1. 3. Raise H1 along with the protective frame to prepare for startup. .. image:: media/figures/h1_setup_start.png :width: 50% :align: center 4. Insert two batteries into the battery compartment with the key-forward orientation. 5. Turn the arm inward until it reaches its limit and then lower it vertically. .. image:: media/gifs/h1_arm_position.gif :width: 50% :align: center 6. Ensure that the feet are cocked up to their limit. .. image:: media/figures/h1_feet_up.png :width: 50% :align: center 7. Maintain the position as depicted in the image below: .. image:: media/figures/h1_damp_position.png :width: 50% :align: center 8. Short press and long press both batteries simultaneously to power them up. 9. Wait until you hear the sound indicating that the ankle has reached its limit, and then wait an additional 30 seconds. 10. Press ``L1+A`` to unlock damping, then press ``L1+UP`` to enter ready mode. At this point, the feet will spread out, and the arms will be at the sides of the waist. .. image:: media/gifs/h1_startup_finish.gif :width: 50% :align: center 11. Lower the H1 with the protective frame until H1's feet touch the ground and the fuselage remains stable. 12. Press ``R2+X`` again to activate Sport Mode, and H1 will start marching in place. 13. Press ``START`` to switch to standing mode, then lower the hook and remove the rope. `H1 Quick Start Video `__ Develop Mode ============ To enter **Develop Mode**, ensure that **H1** is in the **suspension** and **damping state**. Then, press the **L2 + R2** key combination on the remote control simultaneously, and H1 enters the Develop mode.. Once activated: - Press **L2 + A** → H1 enters **position mode** and assumes a **specific diagnostic posture**. .. image:: media/figures/h1_diagnostic_pose.png :width: 50% :align: center - Press **L2 + B** → H1 returns to the **damping state**. .. image:: media/figures/h1_damp_pose.png :width: 50% :align: center This process helps confirm whether **H1** has successfully entered **Develop Mode** and can also be used for **hardware troubleshooting**. Once in **Develop Mode**, you can begin using the **SDK** for development and debugging. .. note:: In the current system version, the built-in **motion control program** starts automatically when **H1** is powered on. Even if the remote control is not operated, the system continuously sends periodic instructions with a speed of **0**. If you attempt **SDK-based development** without first entering **Develop Mode**, instruction conflicts may occur, potentially causing **H1 to jitter**. To prevent this, always ensure that **H1** is in **Develop Mode** before using the **SDK** to stop the motion control program from sending commands. You can verify this by pressing **L2 + A**. - If the robot's response does not match the expected behavior shown in the instructional video, press **L2 + R2** multiple times to ensure entry into **Develop Mode**. Powering Off ============ 1. Reattach the rope to the protection hook once H1 remains standing. 2. Raise the hook until there is tension on the rope supporting H1. 3. Press ``L1+A`` to enter damping mode. 4. Simultaneously short press and long press both batteries to power off the double battery simultaneously, completing the shutdown process. Basic Operation =============== Once The H1 is Powered On and in Sports Mode: 1. Press ``START`` to switch to continuous walking mode 2. Push the left joystick forward to move H1 forward. 3. Press ``START`` again to stop H1 and make it stand in place. 4. Press ``START`` once more to return H1 to continuous walking mode. 5. Push the left joystick back to make H1 walk backward. 6. Push the right stick to the right to rotate H1 in that direction. 7. Push the right stick to the left to rotate H1 in the opposite direction. 8. Press ``B`` to increase the height of the leg lift, and press ``A`` to lower the leg lift. 9. Reattach the rope to the protection hook once H1 remains standing. 10. Raise the hook until there is tension on the rope supporting H1. 11. Press ``L1+A`` to enter damping mode; at this point, you can safely shut down or enter debug mode. .. 12. To enter debug mode, press ``L2+R2`` while under suspension. .. .. image:: media/gifs/h1_debug_mode.gif .. :width: 50% .. 13. Press ``L2+B`` again to re-enter damping mode and return H1 to its original position. Operation Guide =============== Concept description ``````````````````` The following table describes the different operational modes of the robot: .. list-table:: :widths: 20 80 :header-rows: 1 * - **Concept** - **Description** * - **Zero Torque Mode** - All motors of the robot stop active motion, and there is no damping feeling when swinging. * - **Damping Mode** - All motors of the robot stop active motion, but there is a clear damping feeling when swinging. This mode allows the robot to enter **Ready Mode**. * - **Seating Mode** - The robot will slowly transition into a **seated position** within **5 seconds**. * - **Ready Mode** - The robot will slowly swing into the **preparatory posture** before entering **Motion Mode**, within **5 seconds**. * - **Motion Mode** - A mode in which the robot can be controlled to move via a **remote control**. * - **Standing Mode** - - When the **joystick input is zero**, the robot stops stepping and remains in the **standing state**. - When the **joystick input is non-zero** or the robot is disturbed and cannot maintain balance, it will start taking steps to regain stability. * - **Dance Mode** - A mode for **whole-body dynamic coordinated dancing**. * - **Debug Mode** - This mode is used for **low-level development**. - When using the **SDK for development and debugging**, ensure that the robot is in **Debug Mode** to stop the **motion control program** from sending commands. - This prevents **potential command conflicts**. - You can press **L2 + A** to confirm whether the robot has successfully entered **Debug Mode**. Mode Switch ```````````` .. image:: media/figures/h1_mode_switch.jpg :width: 100% .. attention:: When entering **Seating Mode**, it is necessary to **press against the robot's back**. When exiting this mode, **push the robot back** to transition out of it. **Note:** The **H1-2** model has only **one diagnostic mode** and **does not support Seating Mode**. Key Description ``````````````` The following table provides an overview of button commands for different modes: +-------------------+---------------------+-----------------------------------------------------+ | Mode | Button | Description | +===================+=====================+=====================================================+ | | L1 + A | Enter Damping Mode | | General +---------------------+-----------------------------------------------------+ | | L2 + R2 | Enter Debug Mode | +-------------------+---------------------+-----------------------------------------------------+ | | L1 + UP | Enter Ready Mode | | Damping Mode +---------------------+-----------------------------------------------------+ | | L1 + B | Enter Zero Torque Mode | +-------------------+---------------------+-----------------------------------------------------+ | | R2 + X | Enter Motion Mode | | Motion Mode +---------------------+-----------------------------------------------------+ | | Left Joystick | Translational velocity command ($v_x, v_y$) | | | | | | | Right Joystick | Yaw angular velocity command ($\omega_{yaw}$) | | | | | | | X | Decrease standing height | | | | | | | Y | Increase standing height | | | | | | | A | Decrease leg lifting height | | | | | | | B | Increase leg lifting height | | | | | | | START | Adjust posture, take a few steps in place, then stop| | | | | | | L2 + Y | Enter Dance Mode and return to Motion Mode | | | | | | | Double Click UP | Handshake | | | | | | | Double Click DOWN | Wave Hand | +-------------------+---------------------+-----------------------------------------------------+ | | L2 + A | Perform position control for diagnostics | | Debug Mode +---------------------+-----------------------------------------------------+ | | L2 + B | Stop diagnostics, enter Damping State | +-------------------+---------------------+-----------------------------------------------------+ .. +-------------------+---------------------+-----------------------------------------------------+ .. | Mode | Button | Description | .. +===================+=====================+=====================================================+ .. | | L1 + A | Enter damping mode | .. | General +---------------------+-----------------------------------------------------+ .. | | L2 + R2 | Enter Develop mode | .. +-------------------+---------------------+-----------------------------------------------------+ .. | Damping mode | R2 + X | Enter preparation mode | .. +-------------------+---------------------+-----------------------------------------------------+ .. | Preparatory mode | R2 + X | Enter sports mode | .. +-------------------+---------------------+-----------------------------------------------------+ .. | | Left joystick | Translation speed command (v_x, v_y) | .. | +---------------------+-----------------------------------------------------+ .. | | Right joystick | Yaw angular velocity command (\omega_{yaw}) | .. | +---------------------+-----------------------------------------------------+ .. | Sports mode | Left cross key | Speed command compensation | .. | +---------------------+-----------------------------------------------------+ .. | | A | Reduce the height of your feet | .. | +---------------------+-----------------------------------------------------+ .. | | B | Increase foot lift | .. | +---------------------+-----------------------------------------------------+ .. | | START | Switch between continuous walking mode/standing mode| .. +-------------------+---------------------+-----------------------------------------------------+ .. | | L2 + A | Perform position control and control the robot to | .. | | | perform diagnostic actions | .. | Develop mode +---------------------+-----------------------------------------------------+ .. | | L2 + B | Stop the diagnostic action and the robot enters | .. | | | the damping state | .. +-------------------+---------------------+-----------------------------------------------------+ .. .. image:: media/gifs/h1_kick.gif .. :width: 50% .. H1 Basic Operations .. ==================== .. Gifs demonstration on starting-up the robot and performing various actions is given below. It also includes instructions on the activation of .. companion mode. .. Good to know commands: .. - Walking: START (Press double times) .. .. image:: media/gifs/H1_Walking.gif .. :width: 50% .. - Running: L2+START .. .. image:: media/gifs/H1_Running.gif .. :width: 50% .. - Standing: SELECT .. - Undamped state: L2+B .. .. image:: media/gifs/H1_Undamped_state.gif .. :width: 50% .. - Prone position: L2+A (Press double times to go onto standing position) .. .. image:: media/gifs/H1_Prone_position.gif .. :width: 50% .. In standing position: .. - Rollover: L2+Y .. .. image:: media/gifs/H1_Rollover.gif .. :width: 50% .. - Stand up from fall: L2+X .. - Stretch: R2+A .. .. image:: media/gifs/H1_Stretch.gif .. :width: 50% .. - Shake Hands: R2+B .. .. image:: media/gifs/H1_Shake_Hands.gif .. :width: 50% .. - Cheer: R2+Y .. .. image:: media/gifs/H1_Cheer.gif .. :width: 50% .. - Frond legs Punch: R1+X .. .. image:: media/gifs/H1_Frond_legs_Punch.gif .. :width: 50% .. - Jump Forward: R1+A .. .. image:: media/gifs/H1_Jump_Forward.gif .. :width: 50% .. - Sit Down: R1+B .. .. image:: media/gifs/H1_Sit_Down.gif .. :width: 50% .. - Bow with Hands: L1+A (Press START to cancel) .. .. image:: media/gifs/H1_Bow.gif .. :width: 50% .. - Dance: L1+B (Press START to cancel) .. .. image:: media/gifs/H1_Dance.gif .. :width: 50% .. In advanced mode (Triggered by pressing **START** two times rapidly): .. - searchlight Switch: L2+SELECT .. .. image:: media/gifs/H1_searchlight_Switch.gif .. :width: 50% .. - Obstacle avoidance ON: X (On) .. - Obstacle avoidance OFF: Y (Long Press for 3s) .. - Stair climbing mode 1: Right Arrow Key+START (Go upstairs forward and downstairs backward) .. - Stair climbing mode 2: Left Arrow Key+START (Go downstairs forward) .. - Endurance Mode: L1+SELECT .. You can access the Basic Operation video by following the provided link below. .. - `H1 Basic Operation `__ .. .. note:: .. Some features are bound to the version of the H1. .. Once connected to the WiFi of the H1. You can access the H1 website by entering the following in the web addess bar ``192.168.12.1``. .. The H1's Firmware version, motor temperature, vision, and control can all be accessed in here. .. H1 Accompany Mode .. ================== .. To activate the accompanying mode for the robot, you'll need the small remote controller that's included with it. .. - Quickly press the "M" button twice on the remote to enter accompanying mode while the robot is turned on. The front headlamp will turn purple, indicating the robot is in accompanying mode. .. In this mode, the robot will maintain a specific distance and angle from the remote transmitter as it moves. .. .. image:: media/gifs/accompany1.gif .. :width: 50% .. - To enable obstacle avoidance in accompanying mode, double-click the "L2" button on the remote. .. .. image:: media/gifs/accompany2.gif .. :width: 50% .. - Press the "M" button once to exit accompanying mode. .. For a visual guide on Accompany Mode, access the video through the provided link below. .. - `H1 Accompany Mode `__ .. H1 Voice command/ 4G Function .. ============================== .. Navigate to FUNCTIONS -> BenBen Dog from the app home screen while the robot is turned on and connected to your mobile device. .. You'll find the option to select either Automatic or LongPress. This choice determines whether the robot responds to voice commands .. instantly as you speak, or if you prefer to activate voice commands by pressing the talk button. .. This voice command feature allows complete control over the robot, from executing tricks, navigating specific distances and angles, to playing your preferred music. .. For a visual guide on Voice commad Mode, access the video through the provided link below. .. - `H1 Voice command Mode `__ .. .. note:: .. To enable this Funtion, the robot requires an internet connection through Wi-Fi. .. H1 Programming Mode .. ==================== .. Navigate to FUNCTIONS -> Programming from the app home screen while the robot is turned on and connected to your mobile device. .. .. image:: media/gifs/program1.gif .. :width: 50% .. It will show you a UI with different commands blocks that you can mix and match for make your robot do certan stuff on the go. .. You can also visualize the simulation of your code in a small visual box on the right of the sceen. .. .. image:: media/gifs/program2.gif .. :width: 50% .. For a visual guide on Programming Mode, access the video through the provided link below. .. - `H1 Programming Mode `__ .. H1 IMU Calibration .. =================== .. To calibrate the built-in IMU on the H1, please follow these steps: .. - Navigate to EMPLACE -> data -> robodog from the app home screen while the robot is turned on and connected to your mobile device. .. Scroll down to the bottom and select the *imu* option. .. .. image:: media/gifs/imu1.gif .. :width: 50% .. - The interface will prompt you to place the robot on an even and level surface, ensuring all four support pads are touching the ground. .. - Then, press the *calibration start* button. During calibration, the front headlamp will turn blue and start flashing. Once it turns green, .. the calibration is complete. .. .. image:: media/gifs/imu2.gif .. :width: 50% .. - Restart the robot to save the calibration data. .. For a visual guide on IMU Calibration, access the video through the provided link below. .. - `H1 IMU Calibration `__ .. H1 Leg Calibration .. =================== .. To calibrate the legs on the H1, please follow these steps: .. - Navigate to EMPLACE -> data -> robodog from the app home screen while the robot is turned on and connected to your mobile device. .. Scroll down to the bottom and select the *legs* option. .. .. image:: media/gifs/leg1.gif .. :width: 50% .. - A popup will show up, select *continue* which will in return show you steps to take to calibrate the robot. .. - The interface will prompt you to place the robot on an even and level surface, ensuring all four support pads are touching the ground and select *calibration* option. .. .. image:: media/gifs/leg2.gif .. :width: 50% .. - Align the body motor of the robot in a centered triangular shape as depicted in the images below. Then, press *calibrate* once more. .. .. image:: media/gifs/leg3.gif .. :width: 50% .. - With the robot legs now in an upright position, utilize the calibration ruler to ensure the angle between the thigh and shin forms a right angle. .. .. image:: media/gifs/leg4.gif .. :width: 50% .. - Press *calibrate* again and choose *save* to store the calibration data. Finally, restart the robot to confirm the calibration. .. .. image:: media/gifs/leg5.gif .. :width: 50% .. For a visual guide on leg Calibration, access the video through the provided link below. .. - `H1 Leg Calibration `__ .. H1 Unbinding .. ============= .. To Unbind the robot please follow the below mentioned steps: .. - Login to your h1 app and from the main screen select option **Device** .. .. image:: media/figures/unbinding1.jpeg .. :width: 50% .. - Select **Robot Dog Settings** option .. .. image:: media/figures/unbinding2.jpeg .. :width: 50% .. - Scroll dow to the end of the page and select option **unbind the robot dog** .. .. image:: media/figures/unbinding3.jpeg .. :width: 50% .. H1 App Logout .. =============== .. To Logout of the unitree H1 app please follow the below mentioned steps: .. - On the main screen select option **Me** .. .. image:: media/figures/logout1.jpeg .. :width: 50% .. - Select **Account and Security** option .. .. image:: media/figures/logout2.jpeg .. :width: 50% .. - Scroll dow to the end of the page and select option **logout** .. .. image:: media/figures/logout3.jpeg .. :width: 50% .. H1 LIDAR Hardware Assemble and Disassemble .. ============================================ .. .. image:: media/figures/laidar.png .. :width: 100% .. To assemble or diassemble the robot LIDAR manually please follow the video link provided below: .. - `H1 LIDAR Assemble and Disassemble `__ .. H1 External Power-Supply .. ========================= .. .. warning:: .. The procedure described below is only for development .. purposes. It turns on the robot without a battery inside from the external .. power supply. The power supply should atleast be able to provide **30V/10A**. .. 1. Remove the battery from the H1. .. 2. Ensure the H1 is placed on the ground with all four paws as well as .. knee joints touching the ground. .. - It is advised to place robot on some carpet or similar .. compressible surface to prevent damage to the joints. .. 3. Connect the cable to the connection ports on the H1’s back. .. - The H1 requires 30V with around 10A of current. At startup it may take up to 20A of current. .. - Be vigiliant and make sure the *XT30* male pins are in the correct .. orientation when plugging in.