tron2-mujoco-sim is a Python MuJoCo-based simulator for the TRON2A humanoid platform. Its central file, simulator.py, bridges the LimX low-level SDK to a MuJoCo simulation: it accepts RobotCmd messages (q, dq, tau, Kp, Kd) over the SDK transport and applies the resulting joint torques inside mujoco.MjData.

The wire format and command semantics used by this simulator are identical to those used to drive the real TRON2A robot. That means:

• Any process that can reach the SDK endpoint (default 127.0.0.1, overridable on the command line) can push q / dq / tau / Kp / Kd targets. On a real robot, those same targets move physical actuators.
• A controller that misbehaves against the simulator will misbehave against the physical robot the moment the endpoint IP is changed. The IP switch is the entire safety boundary between sim and real.
• Bugs in simulator.py that cause it to accept malformed or out-of-range commands mask the same bugs in a downstream controller and can lead to unsafe real-robot behavior.

For those reasons this repository intentionally does not ship: control policies, calibration values, or a mode that silently forwards to a real robot. See THIRD_PARTY_NOTICES.md for the exclusion list.

Control-path vulnerabilities in the deployment stack itself belong to tron2-rl-deploy-python / tron2-rl-deploy-ros, not here.

<robot-ip> in this repository's Markdown / YAML command examples is a placeholder token, not a real address. Substitute your own robot or simulator IP before running. Nothing in this repository (including simulator.py, CI, or configuration) hard-codes a private IP; the SDK endpoint defaults to 127.0.0.1 and is overridable on the command line.

The internal-only sibling repository tron2-rl-deploy-ros retains a documentation-example literal 10.192.1.2 in its source / launch files (e.g. Tron2HW.cpp, tron2_hw_node.cpp, tron2_hw.launch), kept per owner decision and declared in that repository's SECURITY.md. That literal is documented there and is not mirrored into this repository.

Only the tip of the main branch and the most recent tagged release receive security fixes. Older tags are provided as-is.

Do not open a public issue for security reports.

Email: [email protected] Subject prefix: [tron2-mujoco-sim]

Please include:

• Affected file(s) and commit / tag (and, if relevant, submodule pin recorded by git submodule status --recursive).
• A minimal reproducer or proof of concept.
• Impact assessment (e.g., "simulator accepts NaN torque without clamping", "SDK endpoint binds to 0.0.0.0 by default", "malformed RobotCmd crashes the sim").
• Whether the issue could affect a real robot if the endpoint IP were changed to a physical unit.
• Your preferred disclosure timeline and contact.

We aim to acknowledge reports within 3 business days and provide a remediation plan or an initial mitigation within 14 calendar days. We support coordinated disclosure; please do not publish details until a fix or advisory is available.

• Bugs in third-party parsers or runtimes (MuJoCo, onnxruntime, NumPy, SciPy, pygame) — report those upstream.
• Bugs inside the git submodules (robot-description, robot-joystick, limxsdk-lowlevel) — report those to the respective repositories.
• Physical safety of the robot itself — report to the deployment repositories or to LimX product support.
• Requests to publish calibration data, control policies, or firmware — this repository intentionally excludes those.

Good-faith security research that follows this policy will not be pursued legally by LimX Dynamics. Please respect user privacy, avoid service disruption, and do not access data beyond what is necessary to demonstrate the issue. Never point a proof-of-concept at a real robot's control endpoint — use the local 127.0.0.1 simulator target.