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