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Feat/add mj env (#2613)

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* add sim support

* close fix threading issues
This commit is contained in:
Martino Russi
2025-12-15 16:22:27 +01:00
committed by GitHub
parent c2fb644613
commit a6c3a0fa09
4 changed files with 51 additions and 26 deletions
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docs/source/unitree_g1.mdx
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@@ -4,11 +4,12 @@ This guide covers the complete setup process for the Unitree G1 humanoid, from i
## About the Unitree G1
We offer support for both 29 and 23 DOF G1. In this first PR we introduce:
We offer support for both 29 and 23 DOF G1. We introduce:
- **`unitree g1` robot class, handling low level communication with the humanoid**
- **ZMQ socket bridge** for remote communication over WiFi, allowing one to deploy policies remotely instead of over ethernet or directly on the Orin
- **GR00T locomotion policy** for bipedal walking and balance
- **MuJoCo simulation mode** for testing policies without the physical robot
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@@ -191,6 +192,10 @@ Press `Ctrl+C` to stop the policy.
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## Extra: Running in Simulation Mode (MuJoCo)
You can now test and develop policies without a physical robot using MuJoCo. to do so set `is_simulation=True` in config.
## Additional Resources
- [Unitree SDK Documentation](https://github.com/unitreerobotics/unitree_sdk2_python)