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High level direct #1

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High level direct #1

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5174390
Add high level interface
fabid Mar 10, 2026
b5e2f6e
Add front camera support
fabid Mar 10, 2026
c0f32ea
Add simulation recording
fabid Mar 11, 2026
98a0483
Make scene a argument
fabid Mar 11, 2026
11ad99c
apibinaryset should be set() not dict) (#2)
tomonorman Mar 11, 2026
a454562
set interface based on platform (#3)
tomonorman Mar 12, 2026
32790e7
scene loading from dufferebt path
fabid Mar 13, 2026
29e0fd3
Use MjvCamera to track the robot
fabid Mar 13, 2026
fcc7080
Log robot pose as json line format
fabid Mar 16, 2026
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4 changes: 3 additions & 1 deletion simulate_python/config.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
import platform as _platform

ROBOT = "go2" # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1"
ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/scene.xml" # Robot scene
DOMAIN_ID = 1 # Domain id
INTERFACE = "lo" # Interface
INTERFACE = "lo0" if _platform.system() == "Darwin" else "lo" # Interface

USE_JOYSTICK = 1 # Simulate Unitree WirelessController using a gamepad
JOYSTICK_TYPE = "xbox" # support "xbox" and "switch" gamepad layout
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