.. _Unitree: https://www.unitree.com/
.. _H1 ROS: https://github.com/unitreerobotics/unitree_ros
.. _H1 ROS2: https://github.com/unitreerobotics/unitree_ros2
.. _H1 Documentation: https://support.unitree.com/home/en/H1_developer/About_H1
.. _Unitree Github: https://github.com/unitreerobotics


.. _Unitree_h1:

===========
Unitree H1
===========

.. _fig_unitree_h1:

.. figure:: ../../../_static/images/unitree_h1/unitree_h1.jpg
   :align: right
   :scale: 8%
   :alt: Unitree H1

   Unitree H1

+------------------+--------------------------------------+
| Location         | Dry Lab                              |
+------------------+--------------------------------------+
| Contacts         | Pawel, Mohammad                      |
+------------------+--------------------------------------+
| Manufacturer     | `Unitree`_                           |
+------------------+--------------------------------------+
| Document         | `H1 Documentation`_                  |
+------------------+--------------------------------------+
| Github           | `Unitree Github`_                    |
+------------------+--------------------------------------+
| ROS              | `H1 ROS`_                            |
+------------------+--------------------------------------+
| ROS2             | `H1 ROS2`_                           |
+------------------+--------------------------------------+

Overview
--------

The Unitree H1 is a highly advanced humanoid robot, designed to operate in complex environments with agility and precision. This robot is suitable for research, education, and various practical applications, providing a robust platform for exploring human-robot interaction and AI-driven automation.

Key Features
------------

- **Advanced Mobility**: Equipped with high-torque joint motors, the H1 achieves a peak torque density of 189 N.m/Kg. It can walk at speeds of up to 3.3 meters per second and has the potential to run at speeds exceeding 5 meters per second.
- **360° Depth Perception**: The H1 is fitted with 3D LiDAR and a depth camera, providing comprehensive spatial awareness and the ability to navigate autonomously.
- **High Payload Capacity**: The H1, weighing 47 kg, can carry a payload of up to 30 kg, making it highly useful for a variety of applications.
- **Autonomous Operation**: The robot's sophisticated AI and sensor integration, including Intel RealSense cameras and Livox LiDAR modules, allow it to perform tasks autonomously.
- **Battery and Endurance**: Powered by a removable 864-Wh lithium battery, the H1 ensures prolonged operational time and quick battery replacement for uninterrupted activities.

Technical Specifications
-------------------------

- **Height**: Approximately 180 cm
- **Weight**: 47 kg
- **Degrees of Freedom (DOF)**: 19
- **Joint Motors**: 360 N.m peak torque
- **Mobility Speed**: Up to 3.3 m/s (walking), potentially over 5 m/s (running)
- **Battery Capacity**: 864 Wh
- **Sensors**: 3D LiDAR, Depth Camera

This document provides detailed usage instructions for the Unitree H1 humanoid robot, including hardware, software, and operational guidelines. For further information and updates, refer to the `H1 Documentation`_, `H1 ROS`_, and `H1 ROS2`_ resources.

Contents
--------

    .. toctree::

        h1_start
        h1_manual_control
        h1_power_off
        h1_ros