How to integrate Unitree H1_2 robot into MuJoCo MPC?

[albertoguglielmo]

Hi,
I’m trying to integrate the Unitree H1_2 robot with MuJoCo MPC to adapt the control for this robot. Has anyone done this before?
What are the main steps or guidelines to add a new robot/task to MuJoCo MPC?
Thanks in advance!

[badinkajink]

Hi Alberto, I have been working on this exact task recently. I ported the work from this open PR for integrating HumanoidBench for the H1 (#339) onto my fork here: https://github.com/badinkajink/mujoco_mpc/tree/humanoidbench, on the humanoidbench branch. I've tested the walking and box pushing task. I did not port all the changes from the initial PR, which are described here: https://arxiv.org/abs/2408.00342, and probably as a result the walking policy is quite poor.

Currently the H1_2 xml needs some adjusting, the hand offsets are too large.

Should build fine on 22.04 + Clang 13. Feel free to reach out to my email; the H1-2 community is quite small and I am happy to discuss problems.

[albertoguglielmo]

Thank you very much for your reply and for sharing your work , it will definitely be very useful for me. At the moment my main goal is to improve the robustness of H1’s walking and to enable it to overcome obstacles using MPC.

If I obtain interesting results, I will be more than happy to share them with the community.

[Raviteja-T]

Hi, I'm working on the H1-2 robot. I have a doubt regarding the networking interface—could you please confirm once? I'm logging in only through PC4 at IP address 192.168.123.164. But everywhere I see references to 192.168.123.162, which I haven't seen or used. Also, the IPs for the robot's hands and LiDAR have changed in my setup. So could you please check once, especially if you're also using H1-2? There hasn't been much update from Unitree either—I met them last time. Thanks! @albertoguglielmo @badinkajink

[badinkajink]

Yes, we use 192.168.123.164. We believe the references are just out-of-date/wrong.

[Raviteja-T]

Yes, we use 192.168.123.164. We believe the references are just out-of-date/wrong.

Thanks for your quick reply. What about lidar and hands IP and Subnet?