sync recent changes

2026-05-30 07:59:43 +00:00 · 2025-11-21 14:13:05 +01:00
parent e5cae6be64
commit 9a052566a3
326 changed files with 20122 additions and 15 deletions
@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+"""Standalone MuJoCo simulator for Unitree G1"""
+import argparse
+import sys
+from pathlib import Path
+
+# Add sim module to path
+sys.path.insert(0, str(Path(__file__).parent))
+
+import yaml
+from sim.simulator_factory import SimulatorFactory, init_channel
+
+def main():
+    parser = argparse.ArgumentParser(description="Unitree G1 MuJoCo Simulator")
+    parser.add_argument("--publish-images", action="store_true", 
+                       help="Enable camera image publishing via ZMQ (requires offscreen rendering)")
+    parser.add_argument("--camera-port", type=int, default=5555,
+                       help="ZMQ port for camera publishing (default: 5555)")
+    parser.add_argument("--cameras", type=str, nargs="+", default=None,
+                       help="Camera names to publish (default: head_camera)")
+    args = parser.parse_args()
+    
+    # Load config
+    config_path = Path(__file__).parent / "config.yaml"
+    with open(config_path) as f:
+        config = yaml.safe_load(f)
+    
+    # Override config with command line args
+    enable_offscreen = args.publish_images or config.get("ENABLE_OFFSCREEN", False)
+    
+    print("="*60)
+    print("🤖 Starting Unitree G1 MuJoCo Simulator")
+    print("="*60)
+    print(f"📁 Scene: {config['ROBOT_SCENE']}")
+    print(f"⏱️  Timestep: {config['SIMULATE_DT']}s ({int(1/config['SIMULATE_DT'])} Hz)")
+    print(f"👁️  Visualization: {'ON' if config.get('ENABLE_ONSCREEN', True) else 'OFF'}")
+    
+    # Configure cameras if requested
+    camera_configs = {}
+    if enable_offscreen:
+        camera_list = args.cameras or ["head_camera"]
+        for cam_name in camera_list:
+            camera_configs[cam_name] = {"height": 480, "width": 640}
+        print(f"📷 Cameras: {', '.join(camera_list)} → ZMQ port {args.camera_port}")
+    
+    print("="*60)
+    
+    # Initialize DDS channel
+    init_channel(config=config)
+    
+    # Create simulator
+    sim = SimulatorFactory.create_simulator(
+        config=config,
+        env_name="default",
+        onscreen=config.get("ENABLE_ONSCREEN", True),
+        offscreen=enable_offscreen,
+        camera_configs=camera_configs,
+    )
+    
+    # Start simulator (blocking)
+    print("\nSimulator running. Press Ctrl+C to exit.")
+    if enable_offscreen and args.publish_images:
+        print(f"Camera images publishing on tcp://localhost:{args.camera_port}")
+    try:
+        SimulatorFactory.start_simulator(
+            sim,
+            as_thread=False,
+            enable_image_publish=args.publish_images,
+            camera_port=args.camera_port,
+        )
+    except KeyboardInterrupt:
+        print("\nShutting down simulator...")
+        sim.close()
+
+if __name__ == "__main__":
+    main()
+