unitree G1 simulation

[hazidh]

Intro

Hi!

I am a undergrad student , I use MuJoCo for my research.

My setup

MuJoCo Python

My question

No response

Minimal model and/or code that explain my question

Hello, when I imported the G1 robot file, the fps was about 20 frames, is this normal? At this time, I used some collected data to drive the robot, and found that the step time was far less than the simulation time, which caused me to sometimes skip the actions set in each step. Is there any solution? Or can we start multi-core threads?

import mujoco
import mujoco.viewer
import time
import numpy as n
def parse_csv(csv_path):
    frames = []
    with open(csv_path, 'r') as f:
        for line in f:
            line = line.strip()
            if line:
                values = [float(x) for x in line.split(',')]
                frames.append(values)
    return frames

csv_path = "E:\\Project\\5-Robot\\HumRobotPy\\torobo_mujoco-main\\torobo_mujoco-main\\data\\high_wave.csv"
joint_angle_list = parse_csv(csv_path)

model_path = "E:\\Project\\5-Robot\\HumRobotPy\\torobo_mujoco-main\\torobo_mujoco-main\\robots\\unitree_g1\\scene.xml"
m = mujoco.MjModel.from_xml_path(model_path)
d = mujoco.MjData(m)
i = 0
counter = 0
control_decimation = 1
target_dof_pos = joint_angle_list[i]
current_target = joint_angle_list[0]
with mujoco.viewer.launch_passive(m, d) as viewer:
    start_time = time.time()
    completion_time = None

    while viewer.is_running():
        step_start = time.time()

        d.ctrl[:] = target_dof_pos[7:]

        mujoco.mj_step(m, d)


        counter += 1
        if counter % control_decimation == 0:

            i = (i + 1) % len(joint_angle_list)
            target_dof_pos = joint_angle_list[i]
        viewer.sync()

        print("-------------------")
        print("step time：",m.opt.timestep)
        print("sim time：", (time.time() - step_start))
        time_until_next_step = m.opt.timestep - (time.time() - step_start)
        if time_until_next_step > 0:
            time.sleep(time_until_next_step)

---

step time： 0.002
sim time： 0.11219143867492676

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.