Product Overview

The Unitree D2 Dual-Arm Embodied Data Collection Kit is a complete bimanual robotic platform purpose-built for embodied AI research, imitation learning, and teleoperation data collection. The kit includes 2x D2 Basic robotic arms, each with 7 degrees of freedom and 44.3 lb·ft (60 N·m) maximum joint torque, delivering a total of 14 degrees of freedom for coordinated bimanual manipulation. Both arms are mounted on a dual-arm vertical stand configured for desktop mode, providing a compact, stable workstation for data collection tasks.

The integrated stereo depth camera delivers synchronized RGB-D perception of the workspace, enabling accurate 3D reconstruction, object pose estimation, and scene understanding -- critical inputs for training embodied AI models. Each arm is constructed with industrial-grade cross-roller bearings and internal-rotor permanent magnet synchronous motors, ensuring high precision and repeatability across thousands of data collection trajectories. Integrated with Cortex-M33 32-bit processors, each arm supports a 500 Hz control cycle and multiple control methods, including SDK, host computer, and drag-and-drop teaching.

Stereo Depth Camera

The kit includes a stereo depth camera as standard equipment, providing the critical visual perception layer for embodied data collection:

Dual-Arm Vertical Mount (Desktop Mode)

The kit includes a dual-arm vertical mount specifically configured for desktop operation:

Extensive Joint Motion Range (Per Arm)

Each D2 arm in the kit distributes 7 degrees of freedom across its joints with an extensive motion range optimized for maximum reach and dexterity:

• J1 Joint: -156° to 156° | Peak torque 44.3 lb·ft (60 N·m), maximum speed 18.7 rad/s. Provides the primary base rotation for wide workspace coverage.
• J2 Joint: 0° to 195° | Peak torque 44.3 lb·ft (60 N·m), maximum speed 18.7 rad/s. Delivers powerful shoulder movement for heavy lifting and positioning.
• J3 Joint: -160° to 160° | Peak torque 44.3 lb·ft (60 N·m), maximum rotational speed 18.7 rad/s. Enables deep reach and complex spatial positioning.
• J4 Joint: -180° to 0° | Peak torque 22.1 lb·ft (30 N·m), maximum rotational speed 52.4 rad/s. High-speed wrist rotation for rapid orientation changes.
• J5 Joint: -102° to 102° | Peak torque 22.1 lb·ft (30 N·m), maximum speed 52.4 rad/s. Provides precise pitch control for end-effector alignment.
• J6 Joint: -90° to 90° | Peak torque 7.4 lb·ft (10 N·m), maximum speed 37.7 rad/s. Fine-tuned roll adjustment for delicate manipulation tasks.
• J7 Joint: -90° to 90° | Peak torque 7.4 lb·ft (10 N·m), maximum speed 37.7 rad/s. Final joint orientation for exact tool or gripper positioning.

Control System & Interfaces

The D2 Dual-Arm Embodied Data Collection Kit provides comprehensive real-time control and flexible integration options for advanced bimanual robotics and AI research:

Communication & Power Interfaces

The D2 Dual-Arm kit offers robust communication and power options optimized for data collection environments:

What's Included (Per Kit)

Each D2 Dual-Arm Embodied Data Collection Kit contains the following components:

Important Notes

• End-effector NOT included: This kit ships WITHOUT any end-effector, gripper, or manipulator. Please select the desired manipulator or gripper separately from the "D2 Accessories" section before use.
• Desktop mode configuration: The dual-arm vertical mount is configured specifically for desktop/benchtop operation. Verify desk stability and weight capacity before installation.
• Power adapters not included. Each arm can be powered directly via the XT30 power connector (36V-58V). Ensure your power supply can handle the combined peak load of up to 1740W (870W x 2).
• Stereo depth camera requires appropriate lighting conditions for optimal performance. Camera specifications and SDK integration details are available in the documentation.
• Firmware upgrades are performed via IAP. Ensure stable power during the upgrade process for both arms.
• Secondary development requires advanced programming knowledge and familiarity with bimanual robotics control concepts, UDP/Serial communication protocols, multi-DOF kinematics, computer vision, and embodied AI data collection pipelines.
• Total system weight is significant due to two arms and vertical mount. Verify mounting surface capacity for your installation configuration.
• For teleoperation and imitation learning workflows, additional peripherals (VR controllers, motion capture systems, etc.) may be required and are sold separately.

Technical Specifications