Hello from Unitree sim

Related links

• unitree_mujoco
• unitree_sdk2
• unitree_sdk2_python
• unitree_ros2
• Unitree Doc
• Mujoco Doc

Installation

1. Dependencies

Please clone this repo to your machine:

git clone git@github.com:Fatyhich/unitree_sim.git

Repo contains Docker configuration with all required dependencies. To work with the project:

cd unitree_sim
xhost +  # Enable X11 forwarding
docker compose -f 'compose.yaml' up -d --build 'develop' 

This command will:

1. Build the Docker image with all dependencies
2. Create and start a container with proper X11 forwarding and volume mounting
3. Execute the startup script and provide you with an interactive shell

Important Note: The compose file is configured to mount /home/mrob1/Projects to /home/oversir/humanoid_sim in the container. You may need to adjust the volume paths in compose.yaml according to your system setup. And also please adjust your hostname and GID/UID.

2. Starting Simulator

Once inside the container, to run the simulator with our robot:

sudo apt-get update & upgrade -y
cd humanoid_sim/unitree_mujoco/simulate_python 
python3 ./unitree_mujoco.py

As a marker of success, you will see a new window with the simulator and robot appear!