Unitree H1-2#

Select --robot-name h1_2 for the H1 version-2 articulation. The default asset is mjcf/h1_2_box_feet.xml, which uses the box-foot variant.

Default Contract#

  • Config: protomotions/robot_configs/h1_2.py (H1_2RobotConfig).

  • Structure: 29 bodies, 27 joint DOFs; +X forward, Z up.

  • Observation anchor: root body pelvis (no explicit anchor override).

  • Target bodies: torso_link, head_aux, right_ankle_roll_link, left_ankle_roll_link, left_wrist_yaw_link, right_wrist_yaw_link.

PD gains are computed from joint-family armatures, a 10 Hz natural frequency and damping ratio of 2. Effort and velocity limits are configured per joint family. These defaults differ from G1; do not reuse G1 action scaling or checkpoints for H1-2. Tracking torso_link does not make it the observation anchor: the two selections are independent.

Motion Preparation#

Retarget to the H1-2 articulation and package the resulting motions before training. If changing foot geometry, check support contacts and motion height against the selected asset.