H1 Robot Tutorial
=================

.. .. image:: media/figures/H1_2.png
..     :alt: H1 Robot
..     :width: 100%


+------------------------------------------------------+------------------------------------------------------+
| .. figure:: media/gifs/shadowing_typing.gif          | .. figure:: media/gifs/shadowing_piano.gif           |
|    :width: 100%                                      |    :width: 100%                                      |
|    :align: center                                    |    :align: center                                    |
|    :alt: Humanoid Robot Typing                       |    :alt: Humanoid Robot Playing Tennis               |
|                                                      |                                                      |
|    Humanoid Robot H1 Typing                          |    Humanoid Robot H1 Playing Piano                   |
+------------------------------------------------------+------------------------------------------------------+
| .. figure:: media/gifs/shadowing_table_tennis.gif    | .. figure:: media/gifs/shadowing_boxing.gif          |
|    :width: 100%                                      |    :width: 100%                                      |
|    :align: center                                    |    :align: center                                    |
|    :alt: Humanoid Robot Typing                       |    :alt: Humanoid Robot Playing Tennis               |
|                                                      |                                                      |
|    Humanoid Robot H1 Playing Tennis                  |    Humanoid Robot H1 Boxing                          |
+------------------------------------------------------+------------------------------------------------------+


.. important::

    Please note that the content showcased here represents the individual achievements of `Humanoid AI  <https://humanoid-ai.github.io/>`__ and `Omni Human-to-Humanoid  <https://omni.human2humanoid.com/>`__, and there has 
    been no collaboration between them and our organization. The videos and gifs included on this page are intended strictly for 
    educational and demonstrative purposes.



.. meta::
   :description: Explore the comprehensive user manual, tutorials, and documentation for the Unitree Humanoid H1 robot. Learn how to set up, operate, and program your H1 robot efficiently.
   :keywords: quadruped robotics, robotics documentation, quadruped robots, robotics tutorials, h1 documentation, mbs docs, h1 mbs docs,unitree, quadruped h1, Unitree, Humanoid H1, robot, documentation, user manual, tutorials, setup, operation, programming


The provided tutorial will assist you with setting up and operating your H1_ bi-pedal robot.
The tutorial topics are listed in the left column and presented in the suggested reading order.

.. _H1: https://www.quadruped.de/QUADRUPEDs


Insights from Leading Researchers
`````````````````````````````````
We are excited to highlight the innovative work presented on `Humanoid AI  <https://humanoid-ai.github.io/>`__ and `Omni Human-to-Humanoid  <https://omni.human2humanoid.com/>`__. The researchers on Humanoid AI 
have developed a comprehensive system enabling humanoid robots to learn motion and autonomous skills from human data. Their approach 
involves training low-level policies in simulation through reinforcement learning using extensive human motion datasets. These policies 
allow humanoid robots to shadow human movements in real-time using only an RGB camera. The collected data is then used for 
supervised behavior cloning, enabling robots to autonomously perform various tasks such as wearing shoes, unloading objects, and 
interacting with other robots with impressive success rates. On the other hand, the work on Omni Human-to-Humanoid has resulted in 
OmniH2O, a versatile system for whole-body humanoid teleoperation and autonomy. By using kinematic poses as a universal control 
interface, OmniH2O allows humans to control humanoids through VR, verbal instructions, and RGB cameras. They have also integrated 
advanced models like GPT-4 to enable full autonomy. Their RL-based sim-to-real pipeline and the release of the OmniH2O-6 dataset 
highlight their contributions to humanoid skill learning. 


+-------------------------------------------------------+-------------------------------------------------------+
| .. figure:: media/gifs/OmniH2O-BrushH2O.gif           | .. figure:: media/gifs/OmniH2O-Verbal.gif             |
|    :width: 70%                                        |    :width: 70%                                        |
|    :align: center                                     |    :align: center                                     |
|    :alt: Brush Teleoperation                          |    :alt: Verbal Instructions                          |
|                                                       |                                                       |
|    Humanoid Robot H1 Brush Teleoperation              |    Humanoid Robot H1 Verbal Instructions              |
+-------------------------------------------------------+-------------------------------------------------------+
| .. figure:: media/gifs/OmniH2O-SquatPickBasket.gif    | .. figure:: media/gifs/AutonomousGreeting.gif         |
|    :width: 70%                                        |    :width: 70%                                        |
|    :align: center                                     |    :align: center                                     |
|    :alt: Basket Teleoperation                         |    :alt: Autonomous Greeting                          |
|                                                       |                                                       |
|    Humanoid Robot H1 Squat & Pick Basket              |    Humanoid Robot H1 GPT4o-Autonomous Greeting        |
+-------------------------------------------------------+-------------------------------------------------------+



Warm Tips for Unitree Humanoid Robot Development and Usage
```````````````````````````````````````````````````````````
To align with the public's preference for natural human-like movements, it's important to adhere to these guidelines, particularly when filming humanoid 
robots:

- Strive for upright or nearly upright knee joint positions when developing leg movement programs.
- Reduce step frequency and minimize stationary stepping.
- Keep the feet slightly close together during walking to maintain natural movement.

These tips are intended to enhance the authenticity of humanoid robot movements, especially in video documentation.

.. toctree::
    :titlesonly:
    :hidden:
    :caption: Bi-pedal H1

    h1_overview
    h1-2_overview


.. toctree::
    :titlesonly:
    :hidden:
    :caption: Operation

    controller

.. toctree::
    :titlesonly:
    :hidden:
    :caption: ROS2 Drivers

    quick_start
 
    
.. toctree::
    :titlesonly:
    :hidden:
    :caption: Getting Help

    getting_help
    getting_involved
    faq