H2 Plus is Unitree’s reference-design humanoid built around NVIDIA’s Isaac GR00T development platform — a full-size bipedal body paired with a genuinely dexterous hand at each wrist, aimed at researchers who want a complete, open hardware/software stack rather than a proprietary black box.
The mechanism
The body carries 31 degrees of freedom: a 3-axis waist, a 2-axis neck, 7 per arm (shoulder pitch/roll/yaw, elbow, wrist roll/pitch/yaw), and 6 per leg (hip pitch/roll/yaw, knee, ankle pitch/roll). Each wrist adds a Sharpa five-fingered hand with 22 actuated joints of its own — every finger’s every knuckle independently driven, not a tendon-coupled underactuated design — for 44 additional DOF across both hands. Body plus both hands: 31 + 44 = 75 actuated degrees of freedom, matching Unitree’s own published spec for this platform. No mimic joints or closed kinematic loops anywhere in the description — every one of those 75 is a real, independent read of the URDF.
About this file — read before importing
This links directly to
unitree_ros’s h2_plus package,
Unitree’s own repository. ARMOR links directly to that repository rather than re-hosting
anything, so what you get is exactly what Unitree publishes, unmodified.