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+# Standalone MuJoCo Simulator for Unitree G1
+
+This is a standalone MuJoCo physics simulator for the Unitree G1 robot, extracted from the GR00T-WholeBodyControl repository.
+
+## Features
+
+- **Physics Simulation**: Runs G1 robot in MuJoCo at 500Hz (2ms timestep)
+- **DDS Communication**: Uses Unitree SDK2 DDS for robot communication
+- **Compatible**: Works with existing `unitree_g1.py` control code via DDS
+- **Visualization**: Real-time 3D visualization of robot motion
+
+## Directory Structure
+
+```
+mujoco_sim_g1/
+├── requirements.txt          # Python dependencies
+├── run_sim.py               # Main launcher script
+├── config.yaml              # Simulation configuration
+├── sim/                     # Simulation modules
+│   ├── base_sim.py
+│   ├── simulator_factory.py
+│   ├── unitree_sdk2py_bridge.py
+│   └── ...
+└── assets/                  # Robot models
+    ├── g1_29dof_with_hand.xml
+    └── meshes/*.STL
+```
+
+## Installation
+
+### 1. Create Virtual Environment (Recommended)
+
+```bash
+cd mujoco_sim_g1
+python3 -m venv venv
+source venv/bin/activate  # On Windows: venv\Scripts\activate
+```
+
+### 2. Install Dependencies
+
+```bash
+pip install -r requirements.txt
+```
+
+**Note**: If you encounter issues with `rclpy`, you can comment out the ROS2 imports in `sim/base_sim.py` (lines 11, 609-617) if you don't need camera publishing.
+
+## Usage
+
+### Basic Usage
+
+```bash
+# Activate environment
+source venv/bin/activate
+
+# Run the simulator
+python run_sim.py
+```
+
+The simulator will:
+1. Load the G1 robot model
+2. Initialize DDS communication on domain 0
+3. Open a MuJoCo visualization window
+4. Start listening for motor commands via DDS
+
+### Running with Your Robot Control Code
+
+Once the simulator is running, you can control it from another terminal:
+
+```bash
+# In another terminal
+cd /home/yope/Documents/lerobot
+conda activate unitree_lerobot
+
+# Run your existing control code
+python test_locomotion_minimal.py
+```
+
+Your `unitree_g1.py` code will automatically connect to the simulator via DDS!
+
+## Configuration
+
+Edit `config.yaml` to customize:
+
+- **SIMULATE_DT**: Simulation timestep (default: 0.002s = 500Hz)
+- **DOMAIN_ID**: DDS domain ID (default: 0)
+- **ENABLE_ONSCREEN**: Show visualization (default: true)
+- **USE_JOYSTICK**: Enable gamepad control (default: false)
+- **ROBOT_SCENE**: Path to MuJoCo XML scene
+
+### PD Gains
+
+The simulator uses the following PD gains (matching NVIDIA GR00T):
+
+**Legs (indices 0-11):**
+- Hip joints: KP=150, KD=2
+- Knee joints: KP=300, KD=4
+- Ankle joints: KP=40, KD=2
+
+**Waist (indices 12-14):**
+- All waist joints: KP=250, KD=5
+
+**Arms (indices 15-28):**
+- Shoulders: KP=100, KD=2-5
+- Elbows/Wrists: KP=20-40, KD=1-2
+
+## Troubleshooting
+
+### ImportError: cannot import name 'ChannelFactoryInitialize'
+
+```bash
+pip install --upgrade unitree-sdk2py
+```
+
+### ROS2/rclpy errors
+
+If you don't need camera publishing, edit `sim/base_sim.py`:
+- Comment out line 11: `import rclpy`
+- Comment out lines 609-617 (ROS2 initialization)
+
+### Meshes not found
+
+Make sure mesh paths in `assets/g1_29dof_with_hand.xml` are relative:
+```xml
+<mesh file="meshes/pelvis.STL"/>  <!-- Not absolute path -->
+```
+
+### Robot falls immediately
+
+Check that:
+1. PD gains match NVIDIA's values (see config.yaml)
+2. Velocity command scaling is correct (ang_vel_scale=0.25, cmd_scale=[2.0, 2.0, 0.25])
+3. Observations for missing joints are zeroed out (indices 12, 14, 20, 21, 27, 28)
+
+## Technical Details
+
+### Communication
+
+The simulator publishes:
+- **`rt/lowstate`**: Robot state (joint positions, velocities, IMU, etc.)
+- **`rt/wirelesscontroller`**: Wireless remote controller state (if joystick enabled)
+
+The simulator subscribes to:
+- **`rt/lowcmd`**: Motor commands (position, velocity, torque, KP, KD)
+
+### Coordinate Frames
+
+- **World frame**: Z-up
+- **Joint ordering**: 29 DOF (12 legs + 3 waist + 14 arms)
+- **IMU**: Quaternion in [w, x, y, z] format
+
+### Performance
+
+- Simulation runs at ~500Hz (2ms timestep)
+- Viewer updates at ~50Hz (20ms)
+- Typical CPU usage: 20-40% on single core
+
+## Files from GR00T-WholeBodyControl
+
+This standalone simulator was extracted from:
+- `gr00t_wbc/control/envs/g1/sim/` (simulation modules)
+- `gr00t_wbc/control/robot_model/model_data/g1/` (robot model files)
+- `gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml` (configuration)
+
+## License
+
+Follows the license of the original GR00T-WholeBodyControl repository.
+