ARTICULATED HUMANOID REFERENCE ASSET

Geometry and articulation: Unitree G1, MuJoCo Menagerie public model.
Source: https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_g1
XML: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_g1/g1.xml
Meshes: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_g1/assets/<mesh filename>
License: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_g1/LICENSE

Modifications: Converted visual STL geometry and MuJoCo body/joint hierarchy to
glTF 2.0; omitted collision geometry and the logo_link mesh; retained source
stand pose; changed display materials; smoothed tessellated normals while
preserving sharp edges; quantized vertex positions and normals;
converted Z-up to Y-up by root rotation. Runtime movement is an illustrative
authored animation, not a hardware performance demonstration or controller.
Use does not imply endorsement, affiliation, or ownership of the hardware.

The original license follows in full:

Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this
  list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice,
  this list of conditions and the following disclaimer in the documentation
  and/or other materials provided with the distribution.

* Neither the name of the copyright holder nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission.

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