# unitreerobotics/unitree_ros

Repository: https://github.com/unitreerobotics/unitree_ros
Canonical: https://ross.abutalabs.com/products/unitree_ros
Language: C++
License: BSD-3-Clause
License Family: permissive
Last push: 2026-08-26T10:10:02+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": 2210, "days_push": 7, "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 1537, forks 442 (observed 2026-08-28T04:05:00.091527+00:00)

## What it is
ROS packages providing robot descriptions and Gazebo simulation for Unitree robots (quadrupeds like Go1/Go2/A1 and humanoids like H1/G1). It enables low-level joint control (torque, position, velocity) in simulation.

## Use cases
- simulate a Unitree Go2 or A1 robot in Gazebo
- control robot joint torque, position, and velocity in ROS
- load URDF robot descriptions for Unitree robots
- develop and test quadruped locomotion controllers in simulation
- prototype control code before deploying to a real Unitree robot

## When to choose
- you are doing ROS-based development or research with Unitree robots
- you need Gazebo simulation with low-level joint control of Unitree models
- you want robot description packages (URDF/meshes) for Unitree hardware

## When to avoid
- you need high-level control like walking in simulation - Gazebo simulation here does not support it
- you want to control real robots - use unitree_ros_to_real instead
- you use ROS 2 or newer ROS distributions beyond Melodic/Kinetic

## Facets
- artifact type: library
- maturity: active
- function: simulation, robotics, middleware
- domain: robotics, simulation
- platform: -
- tags: ros, gazebo, quadruped-robots, humanoid-robots, robot-description, low-level-control, unitree, linux

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

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:00.091527+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 2026-08-30T04:31:02.454732+00:00, confidence not recorded.
  - readme: https://github.com/unitreerobotics/unitree_ros (fetched 2026-08-28T04:05:00.091527+00:00, sha df2b8f06d55a)
- Data as of 2026-08-30T08:39:29.467469+00:00.