Unitree Go2 torque-limited standing control

Unitree Go2 torque-limited standing control. Bounded, source-pinned simulation; no hardware execution.

mujoco-unitree-go2-stand-control | Record version: 1.0.0

Record JSON | Markdown recipe | Complete search index

Fetch and prepare

curl -fsSL https://hub.superfastrobotics.com/skills/mujoco-unitree-go2-stand-control/skill.json
curl -fsSL https://hub.superfastrobotics.com/skills/mujoco-unitree-go2-stand-control/README.md
python /PATH_TO_SKILL/scripts/rsh.py inspect mujoco-unitree-go2-stand-control --json
python /PATH_TO_SKILL/scripts/rsh.py prepare mujoco-unitree-go2-stand-control --project ./experiment --expected-source-commit 62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35 --expected-record-version 1.0.0 --plan --json

Inspect the requirements, then remove --plan to prepare a project. Preparation verifies the archive SHA256 and preserves exact source pins. --install-deps explicitly installs dependencies. Run the returned simulation command separately.

Environment

Runtime: mujoco 3.3.7
Robot: unitree_go2
Controller: torque_limited_joint_PD
Observation: joint_and_base_state
OS / architecture: linux / x86_64
Python: >=3.10,<3.11

Compatibility status: hub_verified

Privileged simulator state and declared goals; no perception or real sensor validation.

Requirements

Linux x86_64; CPU simulation, tested on a Lambda A100 host

Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.

Packages: mujoco==3.3.7, numpy==1.26.4

Direct runtime versions are pinned and measured. The receipt retains the complete environment freeze; prepare records the installed environment. System drivers are separate host requirements.

External API keys: none.

Invocation

Executable interface

{
  "version": "1",
  "kind": "controller",
  "abstraction_level": 1,
  "execution_domain": "simulation",
  "language": "python",
  "input_transport": "json_file_or_inline",
  "output_transport": "json_stdout",
  "output_selector": "outputs",
  "conventions": {
    "linear_unit": "m",
    "angular_unit": "rad",
    "time_unit": "s",
    "coordinate_frame": "right_handed_world_xyz; +z_up",
    "joint_order": "FL_hip_joint,FL_thigh_joint,FL_calf_joint,FR_hip_joint,FR_thigh_joint,FR_calf_joint,RL_hip_joint,RL_thigh_joint,RL_calf_joint,RR_hip_joint,RR_thigh_joint,RR_calf_joint",
    "quaternion_order": "not_used"
  },
  "input_schema": {
    "type": "object",
    "required": [
      "seed",
      "push_velocity_m_s"
    ],
    "additionalProperties": false,
    "properties": {
      "seed": {
        "type": "integer",
        "minimum": 0,
        "maximum": 10000
      },
      "push_velocity_m_s": {
        "type": "number",
        "minimum": -0.2,
        "maximum": 0.2,
        "x-unit": "m/s"
      }
    }
  },
  "output_schema": {
    "type": "object",
    "required": [
      "base_xyz_m",
      "minimum_base_height_m",
      "upright_z",
      "max_joint_error_rad"
    ],
    "additionalProperties": false,
    "properties": {
      "base_xyz_m": {
        "type": "array",
        "minItems": 3,
        "maxItems": 3,
        "items": {
          "type": "number",
          "minimum": -20,
          "maximum": 20
        },
        "x-unit": "m",
        "x-frame": "right_handed_world_xyz; +z_up",
        "x-order": [
          "x",
          "y",
          "z"
        ]
      },
      "minimum_base_height_m": {
        "type": "number",
        "minimum": -5,
        "maximum": 5,
        "x-unit": "m"
      },
      "upright_z": {
        "type": "number",
        "minimum": -1,
        "maximum": 1
      },
      "max_joint_error_rad": {
        "type": "number",
        "minimum": 0,
        "maximum": 50,
        "x-unit": "rad"
      }
    }
  },
  "preconditions": [
    "Use the exact recorded source, Linux Python 3.10 environment and pinned direct packages.",
    "No physical robot, network actuation or external robot credentials."
  ],
  "postconditions": [
    "All reported checks must be true and all output numbers finite.",
    "Success covers the declared goal and frozen cases, not arbitrary tasks or physical hardware."
  ],
  "failure_codes": [
    "invalid_input_or_environment",
    "execution_failed",
    "task_failed"
  ],
  "composition": {
    "depends_on": [],
    "automatic_frame_conversion": false,
    "automatic_hardware_execution": false
  },
  "origin_reference_ids": [
    "mujoco-menagerie-artifact-unitree-go2-scene-xml"
  ],
  "origin_relationship": "prepared_from_the_same_pinned_model; inspect the declared controller and goal; no physical compatibility is inferred"
}

Entrypoint: python run.py

{
  "argv": [
    "{python}",
    "{recipe_dir}/run.py",
    "--source-dir",
    "{source_dir}",
    "--example"
  ],
  "inputs": {
    "seed": 0,
    "push_velocity_m_s": 0
  },
  "outputs": {
    "format": "single JSON object",
    "payload_selector": "outputs",
    "schema": {
      "type": "object",
      "required": [
        "base_xyz_m",
        "minimum_base_height_m",
        "upright_z",
        "max_joint_error_rad"
      ],
      "additionalProperties": false,
      "properties": {
        "base_xyz_m": {
          "type": "array",
          "minItems": 3,
          "maxItems": 3,
          "items": {
            "type": "number",
            "minimum": -20,
            "maximum": 20
          },
          "x-unit": "m",
          "x-frame": "right_handed_world_xyz; +z_up",
          "x-order": [
            "x",
            "y",
            "z"
          ]
        },
        "minimum_base_height_m": {
          "type": "number",
          "minimum": -5,
          "maximum": 5,
          "x-unit": "m"
        },
        "upright_z": {
          "type": "number",
          "minimum": -1,
          "maximum": 1
        },
        "max_joint_error_rad": {
          "type": "number",
          "minimum": 0,
          "maximum": 50,
          "x-unit": "rad"
        }
      }
    }
  }
}

Success: All declared goal and finite-state checks pass; exit 0 with task_complete. Maintain standing for 3500 native simulation steps using bounded joint PD torques, including reset-time base-velocity perturbations. Upright/height/tracking postconditions are required. No gait or locomotion capability is asserted.

Timeout: 180 seconds. Terminate the adapter at the recorded timeout. No physical hardware is opened.

Failure modes

Invalid input or source checksum
Different pinned package version
Unavailable runtime/driver
Goal not reached within bounded steps

Source and license

Repository: https://github.com/google-deepmind/mujoco_menagerie
Authors: MuJoCo Menagerie contributors and the pinned model licensors
Commit: 62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35
Archive SHA256: 6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152
License: BSD-3-Clause
Hub commit: ce1d44c01f1a9f707f055da0888068fe32390e62

Evidence

Runtime: task_complete / task_complete

All 3 frozen cases completed against this exact adapter and source.

Reviewer: Hub finite-case Lambda execution harness | 2026-10-20

python tools/verify_runtime_expansion.py --backend menagerie --source-cache SOURCE_CACHE --output OUTPUT

Submitter reports and hub verification remain separate. Source review does not establish task success.