# Unitree H1 Simplified Legs Robot UID: `unitree_h1_simplified` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/unitree_h1/h1.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/unitree_h1/h1.py) Quality: B (Stable, but some values are unrealistic) Degrees of Freedom: 19 Controllers: `pd_joint_pos`, `pd_joint_delta_pos` ## Visuals and Collision Models
unitree_h1_simplified unitree_h1_simplified

Visual Meshes


unitree_h1_simplified unitree_h1_simplified

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)