Introduction

Unitree mujoco

This is a simulator developed based on Unitree SDK2 and Mujoco. This is FORK of the original and much has changed.

This simulator is intended to be used with the Go2-Control Wrapper. ALL dependency information, installations, and API Documentation are listed there.

Joystick functionality is technically preserved.

Directory Structure

• iceoryx_interfaces/: Shared Iceoryx2 client-server configurations needed for IPC
• simulate/resources/: Resources used to load the robot model and scene
• simulate/src/cpp/: Core Mujoco Simulation written in C++
• simulate/src/python/: Python bridge between the Go2-Control Wrapper and the C++ simulation

Internally Supported Unitree SDK2 Messages:

Current version only supports low-level development, mainly used for sim to real verification of controller

• LowCmd: Motor control commands
• LowState: Motor state information
• SportModeState: Robot position and velocity data
• IMUState: Torso IMU state at rt/secondary_imu topic (G1 only)

Note:

1. The numbering of the motors corresponds to the actual robot hardware. Specific details can be found in the Unitree documentation.
2. In the actual robot hardware, the SportModeState message is not readable after the built-in motion control service is turned off. However, the simulator retains this message to allow users to utilize the position and velocity information for analyzing the developed control programs.

Message (DDS IDL) Type Description

• Unitree Go2, B2, H1, B2w, Go2w robots use unitree_go idl for low-level communication.
• Unitree G1, H1-2 robot uses unitree_hg idl for low-level communication.

Configuration

C++ Simulator

The configuration file for the C++ simulator is located at simulate/resources/config/:

• global.yaml: Configuration file for the C++ simulation

References

Translational movement would not be possible without the Phase-Guided Terrain Traversal (PGTT) work developed for the Go2 robot, as described here.

Citation

@inproceedings{ntagkas2025pgtt,
  title={PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion},
  author={Ntagkas, Alexandros and Kiourt, Chairi and Chatzilygeroudis, Konstantinos},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2026}
}