feat: Unitree H1 & H2 devpacks

README.md

@@ -36,6 +36,9 @@ git clone https://huggingface.co/luckyrobots/ContentVault
 | Skies-Vol-1 | Sky HDRIs volume 1 |
 | UnitreeG1 | Unitree G1 humanoid |
 | UnitreeGo2 | Unitree Go2 quadruped |
+| UnitreeH1 | Unitree H1 humanoid model (developer pack; no controller) |
+| UnitreeH2 | Standard Unitree H2 humanoid (developer pack; fixed hands, no controller) |
+| UnitreeH2PlusSharpa | Unitree H2 Plus with articulated Sharpa hands (developer pack; no controller) |
 | Welcome | Welcome / intro pack |
 
 ## CDN

UnitreeH1/UnitreeH1.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243f888d1c420f838be61a9afe7ecb1cd80e646b7a7b4cc42680b9d0f29ff090
+size 5632853

UnitreeH1/metadata.yaml

@@ -0,0 +1,21 @@
+Name: "Unitree H1"
+Category: Robots
+Version: "1.0"
+Description: >
+  Unitree H1 humanoid from MuJoCo Menagerie, with 19 torque-controlled joints,
+  a floating base, MJCF robot model and STL meshes.
+  A startup script gives its torque motors
+  manual ownership with zero initial effort; it supplies no balance controller,
+  walking policy, or motion graph. Let the project script build finish before Play.
+  Source attribution and usage instructions are included in PACK_README.md.
+Tags:
+  - robot
+  - humanoid
+  - unitree
+  - h1
+Actions:
+  Insert:
+    - UnitreeH1/h1.xml
+  Script:
+    Path: Scripts/UnitreeH1Torque.cs
+    Class: ContentVault.UnitreeH1Torque

UnitreeH2/UnitreeH2.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c475296c22fbf94c27caedb432d51f25779a43f454f5bf3b7e669298c641d476
+size 5756276

UnitreeH2/metadata.yaml

@@ -0,0 +1,22 @@
+Name: "Unitree H2"
+Category: Robots
+Version: "1.0"
+Description: >
+  Standard Unitree H2 humanoid from Unitree's official MuJoCo repository, with
+  31 torque-controlled joints, a floating base, articulated head and wrists,
+  and 32 STL meshes. Its hands are fixed geometry without articulated fingers.
+  A startup script gives its motors manual ownership with zero initial effort;
+  it supplies no balance controller, walking policy, or motion graph.
+  Let the project script build finish before Play. Original MJCF and meshes are
+  unchanged; source attribution and usage instructions are in PACK_README.md.
+Tags:
+  - robot
+  - humanoid
+  - unitree
+  - h2
+Actions:
+  Insert:
+    - UnitreeH2/h2_mujoco.xml
+  Script:
+    Path: Scripts/UnitreeH2Torque.cs
+    Class: ContentVault.UnitreeH2Torque

UnitreeH2PlusSharpa/UnitreeH2PlusSharpa.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed335ef3d60b3bc0b727e80e72f620164c82b4bc3a0fd68481ff5e0500d29ec2
+size 20511327

UnitreeH2PlusSharpa/metadata.yaml

@@ -0,0 +1,24 @@
+Name: "Unitree H2 Plus (Sharpa Hands)"
+Category: Robots
+Version: "1.0"
+Description: >
+  Unitree H2 Plus with two articulated Sharpa hands: 75 torque-controlled joints
+  including 22 per hand. The MJCF model and meshes derive from Unitree's official
+  H2 Plus model, with published Sharpa motor dynamics for the hand joints.
+  A startup script claims manual motor ownership at
+  zero effort. No balance controller, grasp policy or tactile sensor simulation
+  is included. Use a 1 ms project timestep (50 Hz with 20 substeps) and build
+  project scripts before Play; see PACK_README.md for attribution and limitations.
+Tags:
+  - robot
+  - humanoid
+  - unitree
+  - h2
+  - sharpa
+  - dexterous-hand
+Actions:
+  Insert:
+    - UnitreeH2PlusSharpa/h2_plus_mujoco.xml
+  Script:
+    Path: Scripts/UnitreeH2PlusSharpaTorque.cs
+    Class: ContentVault.UnitreeH2PlusSharpaTorque

index.json

@@ -17,6 +17,9 @@
     ],
     "devpacks": [
         "AnymalC",
+        "UnitreeH1",
+        "UnitreeH2",
+        "UnitreeH2PlusSharpa",
         "UnitreeGo2Lidar",
         "ApiTests",
         "PandaHrobot",