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unitree_mujoco

  • Software
  • Humanoids and robot learning
  • Simulator

A MuJoCo-based simulator for Unitree robots that lets controllers built with Unitree SDK2, unitree_ros2 and unitree_sdk2_python run in simulation before real hardware.

Made by Unitree Robotics, China (checked on github.com/unitreerobotics (opens in a new tab)).

Source on GitHub: github.com/unitreerobotics/unitree_mujoco (opens in a new tab). Facts read at commit 1eb6642 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 1eb6642 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides a C++ simulator (recommended) and a Python simulator with the same purpose.
  • Supports the low-level messages LowCmd, LowState, SportModeState and IMUState (G1 only).
  • Loads robot MJCF models for Go2, B2, H1, G1, AS2 and other supported Unitree robots.
  • Includes a terrain generation tool for stairs, rough ground and height maps in simulation scenes.
  • Can read a gamepad to simulate the Unitree wireless controller, with Xbox and Switch layouts.
  • Includes example programs that make a Go2 stand up and lie down, in C++, Python and ROS2.

Written by Robotheca from the project's README (opens in a new tab) at commit 1eb6642.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
7 Sept 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.