# Unitree Go2 torque-limited standing control Unitree Go2 torque-limited standing control. Bounded, source-pinned simulation; no hardware execution. Record version: `1.0.0` · Hub commit: `ede75c00118e9808e5099da43c26f4619cc3bc37` ## Executable interface ```json { "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" } ``` ## Exact environment | Runtime | Robot | Controller | Observation | OS | Python | Evidence | | --- | --- | --- | --- | --- | --- | --- | | mujoco 3.3.7 | unitree_go2 | torque_limited_joint_PD | joint_and_base_state | linux x86_64 | >=3.10,<3.11 | task_complete | Privileged simulator state and declared goals; no perception or real sensor validation. Compatibility status: **hub_verified**. An environment match does not establish task completion. Runtime verification: **task_complete**. ## Source and license - Repository: https://github.com/google-deepmind/mujoco_menagerie - Source commit: `62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35` (no tag) - Original authors: MuJoCo Menagerie contributors and the pinned model licensors - License: [BSD-3-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/unitree_go2/LICENSE) - Source archive SHA256: `6866543ef9f07fd24f3fa4d134c06b30f5276f48daf412022b6edbaf6b2f0152` - Upstream files: `unitree_go2/CHANGELOG.md`, `unitree_go2/go2_mjx.xml`, `unitree_go2/README.md`, `unitree_go2/go2_mjx.png`, `unitree_go2/scene_mjx.xml`, `unitree_go2/go2.xml`, `unitree_go2/go2.png`, `unitree_go2/LICENSE`, `unitree_go2/scene.xml`, `unitree_go2/assets/thigh_mirror_1.obj`, `unitree_go2/assets/thigh_mirror_0.obj`, `unitree_go2/assets/base_4.obj`, `unitree_go2/assets/thigh_1.obj`, `unitree_go2/assets/thigh_0.obj`, `unitree_go2/assets/calf_mirror_0.obj`, `unitree_go2/assets/base_2.obj`, `unitree_go2/assets/calf_mirror_1.obj`, `unitree_go2/assets/hip_1.obj`, `unitree_go2/assets/base_1.obj`, `unitree_go2/assets/foot.obj`, `unitree_go2/assets/base_0.obj`, `unitree_go2/assets/calf_0.obj`, `unitree_go2/assets/calf_1.obj`, `unitree_go2/assets/base_3.obj`, `unitree_go2/assets/hip_0.obj` - Upstream contribution rules: https://github.com/google-deepmind/mujoco_menagerie ## Find, inspect, prepare ```sh python /PATH_TO_SKILL/scripts/rsh.py find "controller" --runtime mujoco --runtime-version 3.3.7 --robot unitree_go2 --json 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 ``` Remove `--plan` to download the checksum-verified pinned source and create an isolated project environment. Preparation returns the remaining configuration. Dependency installation is an explicit `--install-deps` step; it can execute package build hooks. Robot simulation is a separate command returned by prepare, never run by find/inspect. Direct package pins: `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. Hardware: Linux x86_64; CPU simulation; see retained receipt for the exact host environment. Rendering: Headless. EGL libraries are required for MuJoCo imports; PushT uses SDL dummy video. No interactive display.. External API keys: none. ## Invocation contract Entrypoint: `python run.py`. ```json { "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. Failures: Invalid input or source checksum; Different pinned package version; Unavailable runtime/driver; Goal not reached within bounded steps. ## Actual evidence All 3 frozen cases completed against this exact adapter and source. Reviewer: Hub finite-case Lambda execution harness · 2026-10-20. Commands/checks actually performed: - python tools/verify_runtime_expansion.py --backend menagerie --source-cache SOURCE_CACHE --output OUTPUT Submitted evidence and hub verification remain separate. A schema check, PR creation or merge does not establish task success or publication. ## Reusable fixes Change the runtime expansion manifest/template, regenerate, and rerun all frozen cases. Preserve source/model/checkpoint licenses and distinguish simulation from hardware. # Unitree Go2 torque-limited standing control Unitree Go2 torque-limited standing control. Bounded, source-pinned simulation; no hardware execution. 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. Source and model terms: BSD-3-Clause. The Hub wrapper is MIT. See the record for input JSON, exact environment, frozen execution receipts and preparation requirements.