H2 is Unitree’s full-size humanoid — the base platform underneath H2 Plus, which adds Unitree’s own “Sharpa” five-fingered dexterous hands and an NVIDIA Jetson Thor on top of this same body. On its own, H2 ships without hands.
The mechanism
Each leg carries six actuated joints (hip pitch, roll, and yaw; knee; ankle pitch and roll) for twelve leg DOF. The waist adds three actuated joints (yaw, roll, pitch), the head two (yaw, pitch), and each arm carries seven actuated joints (shoulder pitch, roll, and yaw; elbow; wrist roll, pitch, and yaw) for fourteen arm DOF — 12 + 3 + 2 + 14 = thirty-one actuated degrees of freedom, all independently driven, no mimic joints.
About this file — read before importing
This links directly to
unitree_ros’s h2_description 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.