mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-30 07:59:43 +00:00
Martino Russi
168 lines
4.4 KiB
Markdown
168 lines
4.4 KiB
Markdown
# Standalone MuJoCo Simulator for Unitree G1
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This is a standalone MuJoCo physics simulator for the Unitree G1 robot, extracted from the GR00T-WholeBodyControl repository.
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## Features
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- **Physics Simulation**: Runs G1 robot in MuJoCo at 500Hz (2ms timestep)
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- **DDS Communication**: Uses Unitree SDK2 DDS for robot communication
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- **Compatible**: Works with existing `unitree_g1.py` control code via DDS
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- **Visualization**: Real-time 3D visualization of robot motion
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## Directory Structure
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```
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mujoco_sim_g1/
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├── requirements.txt # Python dependencies
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├── run_sim.py # Main launcher script
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├── config.yaml # Simulation configuration
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├── sim/ # Simulation modules
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│ ├── base_sim.py
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│ ├── simulator_factory.py
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│ ├── unitree_sdk2py_bridge.py
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│ └── ...
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└── assets/ # Robot models
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├── g1_29dof_with_hand.xml
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└── meshes/*.STL
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```
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## Installation
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### 1. Create Virtual Environment (Recommended)
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```bash
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cd mujoco_sim_g1
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python3 -m venv venv
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source venv/bin/activate # On Windows: venv\Scripts\activate
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```
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### 2. Install Dependencies
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```bash
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pip install -r requirements.txt
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```
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**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.
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## Usage
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### Basic Usage
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```bash
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# Activate environment
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source venv/bin/activate
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# Run the simulator
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python run_sim.py
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```
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The simulator will:
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1. Load the G1 robot model
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2. Initialize DDS communication on domain 0
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3. Open a MuJoCo visualization window
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4. Start listening for motor commands via DDS
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### Running with Your Robot Control Code
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Once the simulator is running, you can control it from another terminal:
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```bash
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# In another terminal
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cd /home/yope/Documents/lerobot
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conda activate unitree_lerobot
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# Run your existing control code
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python test_locomotion_minimal.py
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```
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Your `unitree_g1.py` code will automatically connect to the simulator via DDS!
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## Configuration
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Edit `config.yaml` to customize:
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- **SIMULATE_DT**: Simulation timestep (default: 0.002s = 500Hz)
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- **DOMAIN_ID**: DDS domain ID (default: 0)
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- **ENABLE_ONSCREEN**: Show visualization (default: true)
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- **USE_JOYSTICK**: Enable gamepad control (default: false)
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- **ROBOT_SCENE**: Path to MuJoCo XML scene
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### PD Gains
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The simulator uses the following PD gains (matching NVIDIA GR00T):
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**Legs (indices 0-11):**
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- Hip joints: KP=150, KD=2
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- Knee joints: KP=300, KD=4
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- Ankle joints: KP=40, KD=2
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**Waist (indices 12-14):**
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- All waist joints: KP=250, KD=5
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**Arms (indices 15-28):**
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- Shoulders: KP=100, KD=2-5
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- Elbows/Wrists: KP=20-40, KD=1-2
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## Troubleshooting
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### ImportError: cannot import name 'ChannelFactoryInitialize'
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```bash
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pip install --upgrade unitree-sdk2py
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```
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### ROS2/rclpy errors
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If you don't need camera publishing, edit `sim/base_sim.py`:
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- Comment out line 11: `import rclpy`
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- Comment out lines 609-617 (ROS2 initialization)
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### Meshes not found
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Make sure mesh paths in `assets/g1_29dof_with_hand.xml` are relative:
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```xml
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<mesh file="meshes/pelvis.STL"/> <!-- Not absolute path -->
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```
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### Robot falls immediately
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Check that:
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1. PD gains match NVIDIA's values (see config.yaml)
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2. Velocity command scaling is correct (ang_vel_scale=0.25, cmd_scale=[2.0, 2.0, 0.25])
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3. Observations for missing joints are zeroed out (indices 12, 14, 20, 21, 27, 28)
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## Technical Details
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### Communication
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The simulator publishes:
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- **`rt/lowstate`**: Robot state (joint positions, velocities, IMU, etc.)
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- **`rt/wirelesscontroller`**: Wireless remote controller state (if joystick enabled)
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The simulator subscribes to:
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- **`rt/lowcmd`**: Motor commands (position, velocity, torque, KP, KD)
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### Coordinate Frames
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- **World frame**: Z-up
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- **Joint ordering**: 29 DOF (12 legs + 3 waist + 14 arms)
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- **IMU**: Quaternion in [w, x, y, z] format
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### Performance
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- Simulation runs at ~500Hz (2ms timestep)
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- Viewer updates at ~50Hz (20ms)
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- Typical CPU usage: 20-40% on single core
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## Files from GR00T-WholeBodyControl
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This standalone simulator was extracted from:
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- `gr00t_wbc/control/envs/g1/sim/` (simulation modules)
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- `gr00t_wbc/control/robot_model/model_data/g1/` (robot model files)
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- `gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml` (configuration)
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## License
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Follows the license of the original GR00T-WholeBodyControl repository.
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