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This commit is contained in:
Martino Russi
2025-11-21 14:38:22 +01:00
parent 58739f4b7a
commit 786f4df529
1 changed files with 12 additions and 0 deletions
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src/lerobot/robots/unitree_g1/unitree_g1.py
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@@ -166,6 +166,12 @@ class UnitreeG1(Robot):
# initialize lowcmd publisher and lowstate subscriber # initialize lowcmd publisher and lowstate subscriber
if self.simulation_mode: if self.simulation_mode:
ChannelFactoryInitialize(0, "lo") 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: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
@@ -563,6 +569,12 @@ class UnitreeG1(Robot):
# Disconnect cameras # Disconnect cameras
for cam in self.cameras.values(): for cam in self.cameras.values():
cam.disconnect() 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.") logger_mp.info(f"{self} disconnected.")
def get_full_robot_state(self) -> dict[str, Any]: def get_full_robot_state(self) -> dict[str, Any]: