Unitree H1_2

Unitree H1_2#

UnitreeH12Cfg configures the bundled 27-joint Unitree H1_2 humanoid, including its floating base, standing pose and simulation PD drive defaults.

Unitree H1_2 robot

Unitree H1_2 in the default joint pose

Usage#

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain_robots import UnitreeH12Cfg

sim = SimulationManager(SimulationManagerCfg(headless=True, num_envs=1))
cfg = UnitreeH12Cfg.from_dict({})
robot = sim.add_robot(cfg=cfg)

The catalog ID is also accepted by the shared preview command:

embodichain preview-robot --robot UnitreeH1_2

Robot Configuration#

Item

Default

Catalog ID / UID

UnitreeH1_2

Configuration class

UnitreeH12Cfg

Canonical module

embodichain_robots.unitree.h1_2

Vendor

unitree

Morphology

bipedal_humanoid

Arm count

2

Asset

UnitreeH1_2Locomotion/h1_2.usda

Control parts

locomotion: 27 joints

Base

Floating

Initial root height

1.02 m

Physics backends

Default and Newton

Limb IK solvers

None; build_pk_chain=False

Standard RobotCfg overrides, including joint_drive_props, are accepted by from_dict. Locomotion tasks preserve these explicit overrides.

See Also#

Contents