Dependencies

unitree_sdk2_python

# first cd to your workspace and create virtual environment

sudo apt install python3-pip
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
pip3 install -e .

reference: https://github.com/unitreerobotics/unitree_mujoco?tab=readme-ov-file#python-simulator-simulate_python

Run Mujoco

cd mujoco
python ik_mujoco_test.py

Troubleshooting

Mujoco Python Binding Issue

google-deepmind/mujoco#1292

Could not locate cyclonedds

If pip3 install -e . fails with Could not locate cyclonedds, follow the official instructions from unitree_sdk2_python:

cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install

Then:

cd ~/unitree_sdk2_python
export CYCLONEDDS_HOME="~/cyclonedds/install"
pip3 install -e .

For details, see: https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries