From 786f4df52995b8d8710d2771c05c93d468174cf3 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Fri, 21 Nov 2025 14:38:22 +0100 Subject: [PATCH] test --- src/lerobot/robots/unitree_g1/unitree_g1.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py index 101756c97..b684a68a0 100644 --- a/src/lerobot/robots/unitree_g1/unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/unitree_g1.py @@ -166,6 +166,12 @@ class UnitreeG1(Robot): # initialize lowcmd publisher and lowstate subscriber if self.simulation_mode: ChannelFactoryInitialize(0, "lo") + + # Launch MuJoCo simulation environment + logger_mp.info("Launching MuJoCo simulation environment...") + from lerobot.envs.factory import make_env + self.mujoco_env = make_env("lerobot/unitree-g1-mujoco", trust_remote_code=True) + logger_mp.info("MuJoCo environment launched successfully!") else: ChannelFactoryInitialize(0) @@ -563,6 +569,12 @@ class UnitreeG1(Robot): # Disconnect cameras for cam in self.cameras.values(): cam.disconnect() + + # Close MuJoCo environment if in simulation mode + if self.simulation_mode and hasattr(self, 'mujoco_env'): + logger_mp.info("Closing MuJoCo environment...") + self.mujoco_env.close() + logger_mp.info(f"{self} disconnected.") def get_full_robot_state(self) -> dict[str, Any]: