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Unitree H2 – Draft

unitree-h2 · 0.1.0-draft

draft

Overview

Export JSON

Draft embodiment profile for Unitree H2. Not verified against physical hardware. Not safe for deployment. Joint/sensor definitions are explicit placeholders.

Physical verified
no
Safe for deployment
no
Schema hash
5cd089d09dd78db7676e0a38b23b72c83e2eee7ba65d91260fc97b16e9acd727
Placeholder notes
  • DRAFT ONLY – not verified against a physical Unitree H2.
  • NOT safe for deployment or motor control.
  • Joint names/indices/limits are PLACEHOLDERS pending official H2 definition.
  • Based on simulation-oriented project configuration, not measured hardware.
Validation
{
  "is_valid": false,
  "errors": [
    "joint_schema contains placeholders – cannot mark validated",
    "observation_schema contains placeholders – cannot mark validated",
    "action_schema contains placeholders – cannot mark validated",
    "is_physical_verified must be true for validated status"
  ],
  "warnings": [
    "No URDF/USD reference attached"
  ],
  "schema_hash": "5cd089d09dd78db7676e0a38b23b72c83e2eee7ba65d91260fc97b16e9acd727",
  "joint_count": 12,
  "observation_dim": 12,
  "action_dim": 12,
  "camera_count": 1
}

Joints

[
  {
    "name": "left_hip_pitch",
    "unit": "rad",
    "group": "legs",
    "index": 0,
    "aliases": {
      "ros2": "PLACEHOLDER/left_hip_pitch",
      "urdf": "PLACEHOLDER_left_hip_pitch",
      "lerobot": "placeholder.left_hip_pitch",
      "usd_isaac": "PLACEHOLDER_left_hip_pitch",
      "unitree_sdk": "PLACEHOLDER_left_hip_pitch"
    },
    "joint_id": "h2.placeholder.left_hip_pitch",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "left_knee",
    "unit": "rad",
    "group": "legs",
    "index": 1,
    "aliases": {
      "ros2": "PLACEHOLDER/left_knee",
      "urdf": "PLACEHOLDER_left_knee",
      "lerobot": "placeholder.left_knee",
      "usd_isaac": "PLACEHOLDER_left_knee",
      "unitree_sdk": "PLACEHOLDER_left_knee"
    },
    "joint_id": "h2.placeholder.left_knee",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "right_hip_pitch",
    "unit": "rad",
    "group": "legs",
    "index": 2,
    "aliases": {
      "ros2": "PLACEHOLDER/right_hip_pitch",
      "urdf": "PLACEHOLDER_right_hip_pitch",
      "lerobot": "placeholder.right_hip_pitch",
      "usd_isaac": "PLACEHOLDER_right_hip_pitch",
      "unitree_sdk": "PLACEHOLDER_right_hip_pitch"
    },
    "joint_id": "h2.placeholder.right_hip_pitch",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "right_knee",
    "unit": "rad",
    "group": "legs",
    "index": 3,
    "aliases": {
      "ros2": "PLACEHOLDER/right_knee",
      "urdf": "PLACEHOLDER_right_knee",
      "lerobot": "placeholder.right_knee",
      "usd_isaac": "PLACEHOLDER_right_knee",
      "unitree_sdk": "PLACEHOLDER_right_knee"
    },
    "joint_id": "h2.placeholder.right_knee",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "waist_yaw",
    "unit": "rad",
    "group": "waist",
    "index": 4,
    "aliases": {
      "ros2": "PLACEHOLDER/waist_yaw",
      "urdf": "PLACEHOLDER_waist_yaw",
      "lerobot": "placeholder.waist_yaw",
      "usd_isaac": "PLACEHOLDER_waist_yaw",
      "unitree_sdk": "PLACEHOLDER_waist_yaw"
    },
    "joint_id": "h2.placeholder.waist_yaw",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "left_shoulder_pitch",
    "unit": "rad",
    "group": "arms",
    "index": 5,
    "aliases": {
      "ros2": "PLACEHOLDER/left_shoulder_pitch",
      "urdf": "PLACEHOLDER_left_shoulder_pitch",
      "lerobot": "placeholder.left_shoulder_pitch",
      "usd_isaac": "PLACEHOLDER_left_shoulder_pitch",
      "unitree_sdk": "PLACEHOLDER_left_shoulder_pitch"
    },
    "joint_id": "h2.placeholder.left_shoulder_pitch",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "left_elbow",
    "unit": "rad",
    "group": "arms",
    "index": 6,
    "aliases": {
      "ros2": "PLACEHOLDER/left_elbow",
      "urdf": "PLACEHOLDER_left_elbow",
      "lerobot": "placeholder.left_elbow",
      "usd_isaac": "PLACEHOLDER_left_elbow",
      "unitree_sdk": "PLACEHOLDER_left_elbow"
    },
    "joint_id": "h2.placeholder.left_elbow",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "right_shoulder_pitch",
    "unit": "rad",
    "group": "arms",
    "index": 7,
    "aliases": {
      "ros2": "PLACEHOLDER/right_shoulder_pitch",
      "urdf": "PLACEHOLDER_right_shoulder_pitch",
      "lerobot": "placeholder.right_shoulder_pitch",
      "usd_isaac": "PLACEHOLDER_right_shoulder_pitch",
      "unitree_sdk": "PLACEHOLDER_right_shoulder_pitch"
    },
    "joint_id": "h2.placeholder.right_shoulder_pitch",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "right_elbow",
    "unit": "rad",
    "group": "arms",
    "index": 8,
    "aliases": {
      "ros2": "PLACEHOLDER/right_elbow",
      "urdf": "PLACEHOLDER_right_elbow",
      "lerobot": "placeholder.right_elbow",
      "usd_isaac": "PLACEHOLDER_right_elbow",
      "unitree_sdk": "PLACEHOLDER_right_elbow"
    },
    "joint_id": "h2.placeholder.right_elbow",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "left_hand_close",
    "unit": "rad",
    "group": "hands",
    "index": 9,
    "aliases": {
      "ros2": "PLACEHOLDER/left_hand_close",
      "urdf": "PLACEHOLDER_left_hand_close",
      "lerobot": "placeholder.left_hand_close",
      "usd_isaac": "PLACEHOLDER_left_hand_close",
      "unitree_sdk": "PLACEHOLDER_left_hand_close"
    },
    "joint_id": "h2.placeholder.left_hand_close",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "right_hand_close",
    "unit": "rad",
    "group": "hands",
    "index": 10,
    "aliases": {
      "ros2": "PLACEHOLDER/right_hand_close",
      "urdf": "PLACEHOLDER_right_hand_close",
      "lerobot": "placeholder.right_hand_close",
      "usd_isaac": "PLACEHOLDER_right_hand_close",
      "unitree_sdk": "PLACEHOLDER_right_hand_close"
    },
    "joint_id": "h2.placeholder.right_hand_close",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  },
  {
    "name": "head_yaw",
    "unit": "rad",
    "group": "head",
    "index": 11,
    "aliases": {
      "ros2": "PLACEHOLDER/head_yaw",
      "urdf": "PLACEHOLDER_head_yaw",
      "lerobot": "placeholder.head_yaw",
      "usd_isaac": "PLACEHOLDER_head_yaw",
      "unitree_sdk": "PLACEHOLDER_head_yaw"
    },
    "joint_id": "h2.placeholder.head_yaw",
    "observed": true,
    "placeholder": true,
    "controllable": true,
    "effort_limits": {
      "max": null,
      "min": null,
      "unit": "Nm",
      "placeholder": true
    },
    "position_limits": {
      "max": null,
      "min": null,
      "unit": "rad",
      "placeholder": true
    },
    "velocity_limits": {
      "max": null,
      "min": null,
      "unit": "rad/s",
      "placeholder": true
    },
    "default_position": null
  }
]

Observations

[
  {
    "unit": "rad",
    "dtype": "float32",
    "shape": [
      12
    ],
    "source": "sim_placeholder",
    "required": true,
    "feature_key": "observation.state",
    "placeholder": true,
    "frequency_hz": 50,
    "normalization": {
      "type": "none",
      "placeholder": true
    }
  },
  {
    "unit": null,
    "dtype": "uint8",
    "shape": [
      3,
      480,
      640
    ],
    "source": "camera_placeholder",
    "required": false,
    "feature_key": "observation.images.ego",
    "placeholder": true,
    "frequency_hz": 30,
    "normalization": {
      "type": "image_0_1",
      "placeholder": true
    }
  }
]

Actions

[
  {
    "unit": "rad",
    "dtype": "float32",
    "shape": [
      12
    ],
    "limits": {
      "max": null,
      "min": null,
      "placeholder": true
    },
    "feature_key": "action",
    "placeholder": true,
    "control_mode": "position",
    "frequency_hz": 50,
    "low_level_controller": "PLACEHOLDER_not_wired",
    "action_representation": "joint_position_target"
  }
]

Cameras

[
  {
    "fps": 30,
    "view": "egocentric",
    "camera_id": "h2.placeholder.ego",
    "placement": "head_front_placeholder",
    "resolution": {
      "width": 640,
      "height": 480
    },
    "placeholder": true,
    "color_format": "rgb",
    "depth_support": false,
    "calibration_status": "unknown_placeholder",
    "intrinsics_reference": null
  }
]

Safety

{
  "reason": "Draft profile with placeholder limits; physical validation required.",
  "deployment_blocked": true
}