unitree_mujoco is a simulator developed based on Unitree sdk2 and mujoco. Users can easily integrate the control programs developed with Unitree_sdk2
C++ · active 2023-08-22 → 2026-07-09 (UTC)
Activity over time
Daily event counts in the loaded window
Line chart, 1053 days from 2023-08-22 to 2026-07-09. Pushes: 24 total, peak 7 in a day. Pull requests: 15 total, peak 4 in a day. Issues: 89 total, peak 4 in a day. Comments: 150 total, peak 12 in a day. Stars: 566 total, peak 7 in a day.
- Pushes
- Pull requests
- Issues
- Comments
- Stars
Stars, PRs, issues and forks are under-captured in the later part of this window. GH Archive progressively stopped capturing non-push events during 2026 — −95% or worse by the end of the window. Every series here except Pushes fades for that reason, so a decline above reflects the archive, not this repository. Pushes stay reliable throughout, so read them, and the contributor counts derived from them, as the real signal. Data health has the measurements.
Top contributors
Pushes, PRs, issues, reviews and comments — stars and forks excluded, so this is contribution rather than popularity
| Contributor | Contributions | Pushes | PRs | Comments |
|---|---|---|---|---|
| Agnel-Wang | 36 | 3 | 0 | 23 |
| wuyangning | 23 | 12 | 0 | 10 |
| Bin-Ro | 9 | 4 | 0 | 5 |
| TrivasZhang | 7 | 4 | 0 | 1 |
| BeNavon | 7 | 0 | 0 | 3 |
| CTGUMARK | 6 | 0 | 0 | 5 |
| Yandong-Luo | 4 | 0 | 0 | 2 |
| youweicao | 4 | 0 | 0 | 4 |
| pmcgartoll | 4 | 0 | 4 | 0 |
| KanonWY | 4 | 0 | 1 | 3 |
| Jinlong-Zhang-315 | 3 | 0 | 0 | 0 |
| wuxiaoqiang12 | 3 | 0 | 0 | 1 |
| ifconfig123 | 3 | 0 | 0 | 2 |
| GuanqiHe | 3 | 0 | 3 | 0 |
| sdhou | 3 | 0 | 0 | 1 |
| RayYoh | 3 | 0 | 0 | 2 |
| dcmcshan | 3 | 0 | 0 | 1 |
| Sher1ockFan | 3 | 0 | 0 | 2 |
| kExU9853 | 3 | 0 | 0 | 2 |
| kvbogdanov | 3 | 0 | 0 | 2 |
Recent activity
Latest issues, pull requests and releases
- Pull request#124ShA0-khan2026-06-07 04:53
- Issue comment#123Agnel-Wang2026-06-05 20:09H2 ankle joint order doesn't match Unitree SDK
- Issue#114git3365272026-04-18 13:46找不到test执行指令。I can not find the test。
- Pull request#113KhanhPham2482026-04-11 04:45
- Issue comment#46vegewenqi2026-03-22 10:04Crash on running `./unitree_mujoco`: free(): invalid pointer
- Issue comment#110kaleido-jean2026-02-01 00:02Import "unitree_sdk2py.core.channel" could not be resolved
- Issue#110kaleido-jean2026-01-31 23:10Import "unitree_sdk2py.core.channel" could not be resolved
- Issue comment#106ravijo2026-01-11 12:21Segmentation fault (core dumped)
- Issue comment#106xiao-white80232026-01-11 12:09Segmentation fault (core dumped)
- Issue comment#106ravijo2026-01-11 11:41Segmentation fault (core dumped)
- Issue comment#29AntoniBertel2025-12-24 14:36Support high level control e.g. Walk/Get Balance Mode/... in Mujoco to control Unitree G1?
- Issue comment#104cyborgsince90s2025-12-17 11:00Deploying Policy and Controlling Unitree G1 29dof with Keyboard
- Issue comment#105chenlockyer2025-12-17 07:33when make -j4 met fatal error: glfw_adapter.h
- Issue#105chenlockyer2025-12-16 09:08when make -j4 met fatal error: glfw_adapter.h
- Issue#102erkangozukucuk2025-12-05 07:33Wrong installation steps
- Issue comment#98Raviteja-T2025-10-28 20:47cannot find -lmujoco: No such file or directory
- Issue comment#60Agnel-Wang2025-10-20 03:30ROS2 Issue on Ubuntu 22?
- Issue#32Agnel-Wang2025-10-20 03:25faF117-V:~/unitree_mujoco-main/simulate/build$ ./unitree_mujoco ./unitree_mujoco: symbol lookup error: ./unitree_mujoco: undefined symbol: ddsi_typeinfo_deser,出现错误，运行./unitree_mujoco
- Issue comment#32Agnel-Wang2025-10-20 03:25faF117-V:~/unitree_mujoco-main/simulate/build$ ./unitree_mujoco ./unitree_mujoco: symbol lookup error: ./unitree_mujoco: undefined symbol: ddsi_typeinfo_deser,出现错误，运行./unitree_mujoco
- Issue comment#98Agnel-Wang2025-10-17 12:07cannot find -lmujoco: No such file or directory
- Issue#97Agnel-Wang2025-10-15 03:15Missing header file glfw_adapter.h causes build failure
- Issue comment#97Agnel-Wang2025-10-15 03:15Missing header file glfw_adapter.h causes build failure
- Issue#46Agnel-Wang2025-10-14 04:19Crash on running `./unitree_mujoco`: free(): invalid pointer
- Issue comment#46Agnel-Wang2025-10-14 04:19Crash on running `./unitree_mujoco`: free(): invalid pointer
- Issue comment#96Agnel-Wang2025-10-14 03:59Discrepancy in 'tick' behavior between simulation and real robot
Totals cover only the window loaded into ClickHouse and count events, not GitHub's lifetime totals — 566 stars here means stars gained during the window, not the repo's star count.