Unitree H1

Built by:   Unitree
Licence:    BSD 3-Clause
Source:     https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1
Collection: MuJoCo Menagerie
Packaged:   2026-10-07 by urdfbase.com/models/unitree-h1/

This folder holds the model written as URDF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - link "left_hip_pitch_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_hip_pitch_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_knee_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_ankle_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_ankle_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_ankle_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_hip_pitch_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_hip_pitch_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_knee_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_ankle_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_ankle_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_ankle_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "torso_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "torso_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_shoulder_roll_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_shoulder_yaw_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left_elbow_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_shoulder_roll_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_shoulder_yaw_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right_elbow_link": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost

The robot belongs to the people who built it. Credit the source, not this site.
