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Unitree H2 model assets
Snapshot of the H2 asset currently used by simple-tracking.
- Entry point: h2.xml
- Visual meshes: meshes/ (32 STL files)
- Floating-base qpos: 38; velocity: 37; actuated joints: 31.
- Source: Unitree H2 assets, with simplified primitive collisions used by the training integration.
Known limitations: the current neck visual meshes and neck transforms come from different upstream revisions. This snapshot preserves the existing training asset; that visual mismatch has not yet been corrected. The training runtime applies foot contact overrides (condim=3, priority=1, sliding friction=0.6) and non-foot collision priority=0. The raw XML alone does not include all runtime settings. Do not treat this as a standalone validated hardware deployment model.
Publishing this snapshot does not migrate existing local configuration references.
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