GOLEM H1-2 integration research source
SoftwareGOLEM integrates humanoid simulation, ROS interfaces, perception and skills for the Correll Lab's H1-2/G1 research systems. [1] [2] [3] [4] [5] [6]
Installation & first result →Official websiteGetting started
- Source rights
- Some licenses are unresolved. Review licenses
Source researched · Not tested by us
Sources checked · Research details
Licenses & related hardware
- License
- not fully assessed for software, documentation · Details by part
Overview
Is this for you?
- Known limitations
- No rootumbrella grantidentified; nestedcode/policy/model terms mustremainseparate.
- Simulationbringup uses simulatedsafety settings andsomepolicymodesleave legsuncontrolled; nothardwarecommissioning.
Editorial assessment of cited source; no runtime or hardware test.
What you need
- Operating system
- Linux (primary documented x86 platform)
Documented source requirements/route, not installation or compatibility reproduced by this catalog.
- Dependencies
- Primaryupstreamx86Linux/NVIDIAGPU, ROS2Humble andseparate simulator/ROScontainers sharingconfiguredDDSdomain
- GitLFS/submodules, chosenlower-bodypolicy/modelassets andoptionalhostedperception credentials/services
- Host computer
Primary documented platform is x86 Linux with an NVIDIA GPU; no independently measured minimum resource budget established.
Documented source requirements/route, not installation or compatibility reproduced by this catalog.
Installation & first result
Open the upstream getting-started guide [1] [2] [3] [4] [5] [6]
- Inspect the named implementation and matched configuration; reconcile the documented gaps first.
- Select only the relevant interface/backend; do not treat example output as completed physical action.
Editorial assessment of cited source; no runtime or hardware test.
- Installation
Docker Compose v2 and NVIDIA Container Toolkit, repository submodules/LFS and separate simulator/ROS 2 Humble containers; shared nonzero ROS_DOMAIN_ID via docker/.env before the documented H1-2 simulation launch.
Documented source requirements/route, not installation or compatibility reproduced by this catalog.
Project notes
Reconstruct one documented container configuration
The setup uses a primary x86 Linux/NVIDIA platform, separate simulation and ROS 2 Humble containers, submodules/LFS, Docker Compose v2 and NVIDIA Container Toolkit. Configure a shared nonzero ROS_DOMAIN_ID for the simulation containers through docker/.env; the setup reserves domain 0 for the real robot command bus. The README distinguishes building/running containers from manually launching h12_sim.launch.py inside the workspace. For the selected perception route, GEMINI_API_KEY is required; SAM3 weights require gated repository access and license acceptance and are not tracked in git. Those credentials, weights and services are separate dependencies, not supplied by source access. No container, hosted API or robot process was run. [1] [2]
The selected launch explicitly uses simulation time and sim-specific control/safety configuration. Its lowerbody default is almi; a source comment says the bringup does not launch the MJPC controller, so choosing lowerbody:=mjpc leaves legs uncontrolled. Do not treat a recognized option name or a started launch as evidence of a functioning lower-body controller. This is a source-inspected configuration limitation, not an observed simulation fault. [4]
Inspect the skill's actual service dependencies
The sampled Dex3 driver exposes a concrete hand-interface implementation. The grasp skill additionally contains perception/model calls and configurable Gemini/SAM/YOLO routes, with timeout and camera/frame assumptions. A skill action request does not establish that those services, images, transforms or physical feedback are present. No model request, segmentation, grasp, motor command or recovery was exercised here. [3] [5]
No root umbrella reuse grant was identified; nested packages, locomotion policies and model assets have separate terms, including restrictions discussed by upstream. A code interface or simulation model does not open the Unitree mechanical design/firmware. No checkpoint terms, hardware safety, collision protection, motion result or sim-to-real equivalence was independently validated. [1] [2]
What we checked
Source/document review only; no build, installation, binary/device/network execution, control commissioning or performance test.
Not yet established
- Version-specific hardware compatibility (ecosystem tags alone do not establish it)
Updates
- Upstream last updated
- Not established
- Latest release
- Not established
- Profile updated
- Nov 1, 2026
- Sources last checked
- Nov 1, 2026
- Next review
- Dec 1, 2026
- Reviewed revision
85fe826
Source files and licenses
Narrow source-available robotics interface or research implementation; gaps in licensing, binary core or physical setup are explicitly separate from the inspectable contribution.
| Layer | Availability / license |
|---|---|
| software | available · License not fully assessed No complete source reuse grant identified in the selected repository; source visibility is not redistribution permission. Package declarations and third-party rights remain separate. [1] [2] [3] [4] [5] [6] |
| documentation | available · License not fully assessed No complete source reuse grant identified in the selected repository; source visibility is not redistribution permission. Package declarations and third-party rights remain separate. [1] [2] [3] [4] [5] [6] |
No separate physical design, pretrained distribution or dataset is selected as the released contribution in this scoped software review.
References
Each source links to the exact revision we read. “Used for” shows where this page relies on it.
- S001 README.md
Revision, date & where cited
correlllab/GOLEM contributors · github.com · revision
85fe826· README.md at · Accessed Nov 1, 2026
Used for: Overview, Is this for you?, What you need, Installation & first result and 3 more - S002 docs/SETUP.md
Revision, date & where cited
correlllab/GOLEM contributors · github.com · revision
85fe826· docs/SETUP.md at · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Installation & first result, Reconstruct one documented container configuration and 2 more - S003 core_ws/src/dex_3/dex_3/driver.py
Revision, date & where cited
correlllab/GOLEM contributors · github.com · revision
85fe826· core_ws/src/dex_3/dex_3/driver.py at · Accessed Nov 1, 2026
Used for: Overview, Is this for you?, What you need, Installation & first result and 2 more - S004 core_ws/src/golem_bringup/launch/h12/h12_sim.launch.py
Revision, date & where cited
correlllab/GOLEM contributors · github.com · revision
85fe826· core_ws/src/golem_bringup/launch/h12/h12_sim.launch.py at · Accessed Nov 1, 2026
Used for: Overview, Is this for you?, What you need, Installation & first result and 2 more - S005 core_ws/src/golem_skills/golem_skills/skills/grasp.py
Revision, date & where cited
correlllab/GOLEM contributors · github.com · revision
85fe826· core_ws/src/golem_skills/golem_skills/skills/grasp.py at · Accessed Nov 1, 2026
Used for: Overview, Is this for you?, What you need, Installation & first result and 2 more - S006 Pinned repository tree and license search scope
Revision, date & where cited
correlllab/GOLEM contributors · api.github.com · Official source checked 2026-11-01 · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Installation & first result, Source files and licenses
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5