unitreerobotics/unitree_mujoco

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1150 stars · 391 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A MuJoCo-based simulator for Unitree robots (Go2, B2, H1, G1, etc.) that integrates with Unitree SDK2 control programs in both C++ and Python. It enables sim-to-real verification of low-level motor controllers using the same DDS messages as the physical hardware.

Use cases

• simulate unitree go2 locomotion controllers before deploying to hardware
• test low-level motor control code with unitree_sdk2 in simulation
• verify quadruped and humanoid controller sim-to-real transfer
• generate terrain scenarios for robot simulation
• run example control programs for unitree robots in mujoco

When to choose

• you develop controllers with unitree_sdk2 or unitree_sdk2_python and want sim-to-real verification
• you need low-level motor command/state simulation matching real robot hardware
• you want a free local physics simulator for Unitree robots

When to avoid

• you need high-level sport mode API simulation rather than low-level control
• you work with non-Unitree robots
• you need photorealistic rendering or sensor-rich simulation like Gazebo/Isaac

Facets

application · maturity active

simulation robotics developer-tools robotics simulation developer-tools cpp python mujoco unitree sim-to-real quadruped humanoid dds linux

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