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Unitree H1 Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the H1 Humanoid Robot developed by Unitree Robotics. The original URDF and assets were provided directly by Unitree Robotics under a BSD-3-Clause License.

URDF → MJCF derivation steps

  1. Added <mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
  2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
  3. Manually edited the MJCF to extract common properties into the <default> section.
  4. Added actuators.
  5. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under a BSD-3-Clause License.