# unitreerobotics/unitree_mujoco

Repository: https://github.com/unitreerobotics/unitree_mujoco
Canonical: https://ross.abutalabs.com/products/unitree_mujoco
Language: C++
License: BSD-3-Clause
License Family: permissive
Last push: 2026-08-25T14:03:04+00:00

## Health v2 (maintenance only)
Score: 77/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 99, release rhythm 35, longevity 100
- inputs: {"age_days": 1766, "days_push": 8, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1150, forks 391 (observed 2026-08-28T04:03:46.605744+00:00)

## What it is
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
- artifact type: application
- maturity: active
- function: simulation, robotics, developer-tools
- domain: robotics, simulation, developer-tools
- platform: cpp, python
- tags: mujoco, unitree, sim-to-real, quadruped, humanoid, dds, linux

## Member repositories
- unitreerobotics/unitree_mujoco (main) score 77

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:46.605744+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:33:42.333024+00:00, confidence not recorded.
  - readme: https://github.com/unitreerobotics/unitree_mujoco (fetched 2026-08-28T04:03:46.605744+00:00, sha 563c3b4c48ea)
- Data as of 2026-08-30T08:39:29.467469+00:00.