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#!/usr/bin/env python3
"""Standalone MuJoCo simulator for Unitree G1"""
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(n_envs=1, use_async_envs: bool = False,
publish_images=True, camera_port=5554, cameras=None, **kwargs):
# Use default values
publish_images = True
camera_port = 5554
cameras = None
# Load config
config_path = Path(__file__).parent / "config.yaml"
with open(config_path) as f:
config = yaml.safe_load(f)
# Override config with default values
enable_offscreen = 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 = 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 {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 publish_images:
print(f"Camera images publishing on tcp://localhost:{camera_port}")
try:
SimulatorFactory.start_simulator(
sim,
as_thread=False,
enable_image_publish=publish_images,
camera_port=camera_port,
)
except KeyboardInterrupt:
print("\nShutting down simulator...")
sim.close()
if __name__ == "__main__":
main()
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