unitreerobotics · vietanh-mechatronics · May 25, 2026
diff --git a/AGENTS.md b/AGENTS.md
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+# AI Agent Instructions for unitree_mujoco
+
+## What this repository is
+- A simulator for Unitree robots based on MuJoCo.
+- Two simulator implementations:
+  - `simulate/`: C++ simulator using `unitree_sdk2` (recommended)
+  - `simulate_python/`: Python simulator using `unitree_sdk2_python`
+- Includes robot MJCF scene files under `unitree_robots/` and terrain generation tools in `terrain_tool/`.
+- Example programs in `example/`, including `example/python/stand_go2.py` for simulation and physical robot control.
+
+## Primary tasks agents should support
+- Fixing and extending simulation code in `simulate/src/` and `simulate_python/`
+- Updating `simulate/config.yaml`, `simulate_python/config.py`, and robot scene integration
+- Improving tests, examples, and simulator behavior consistency
+- Keeping the C++ and Python implementations aligned when both exist
+
+## Key directories and entrypoints
+- `simulate/`: C++ build, simulation executable, and native Unitree SDK bridge
+  - key files: `simulate/src/main.cc`, `simulate/src/unitree_sdk2_bridge.h`, `simulate/src/unitree_sdk2_bridge/`
+  - config: `simulate/config.yaml`
+- `simulate_python/`: Python simulator and Python SDK bridge
+  - key files: `simulate_python/unitree_mujoco.py`, `simulate_python/unitree_sdk2py_bridge.py`, `simulate_python/config.py`
+- `example/python/stand_go2.py`: sample control program for simulation and physical robots
+- `unitree_robots/`: robot scene XML assets and supported robot models
+- `terrain_tool/`: procedural terrain generator and related docs
+
+## Build and test commands
+- C++ simulator:
+  - install deps: `sudo apt install libyaml-cpp-dev libspdlog-dev libboost-all-dev libglfw3-dev`
+  - install `unitree_sdk2` to `/opt/unitree_robotics`
+  - build: `cd simulate && mkdir build && cd build && cmake .. && make -j4`
+  - run: `./unitree_mujoco -r go2 -s scene_terrain.xml`
+  - test binary: `./test`
+- Python simulator:
+  - install `unitree_sdk2_python` with `pip3 install -e .`
+  - install MuJoCo and joystick support: `pip3 install mujoco pygame`
+  - run: `cd simulate_python && python3 ./unitree_mujoco.py`
+  - tests: `python3 ./test/test_unitree_sdk2.py`
+- Example real robot control:
+  - `cd example/python && python3 ./stand_go2.py enp3s0`
+
+## Important conventions
+- `readme.md` is the authoritative source for setup, usage, and dependency instructions.
+- `simulate/config.yaml` and `simulate_python/config.py` control robot selection, scene path, DDS domain, network interface, joystick support, and elastic band behavior.
+- Use `lo` for simulation network interface. Physical robot control uses the actual interface name.
+- Supported robot names include `go2`, `b2`, `b2w`, `h1`, plus `g1` and `h1_2` variants.
+- Joystick layout support is implemented for `xbox` and `switch`; update both C++ and Python bridge mappings if layouts change.
+- Do not assume external dependencies are vendored; `unitree_sdk2`, `unitree_sdk2_python`, MuJoCo, and `cyclonedds` are installed externally.
+
+## Common pitfalls for changes
+- Avoid unintended changes to the MJCF/scene XML structure in `unitree_robots/`.
+- Ensure native C++ builds reference `unitree_sdk2` installed under `/opt/unitree_robotics`.
+- Keep C++ and Python behavior aligned for the same robot models and DDS message families.
+- Use the correct IDL family: `unitree_go` for Go2/B2/H1/Go2w/B2w and `unitree_hg` for G1/H1_2.
+- Python simulator failures often trace to missing `cyclonedds`, incorrect MuJoCo installation, or wrong `simulate_python/config.py` settings.
+
+## Where to look first
+- `readme.md`
+- `simulate/src/unitree_sdk2_bridge/`
+- `simulate_python/unitree_sdk2py_bridge.py`
+- `simulate_python/config.py`
+- `example/python/stand_go2.py`
+- `unitree_robots/`
+
+## When to ask for help
+- If a change affects both the C++ and Python simulator paths, verify both build/test flows.
+- If adding or modifying a robot model, confirm the correct `unitree_go` vs `unitree_hg` message family and DDS mapping.
diff --git a/GETTING_STARTED.md b/GETTING_STARTED.md
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+# Getting Started with R1 Gestures
+
+Everything is ready to use! Follow these steps to start working with robot gestures.
+
+## Step 1: Verify Setup (2 minutes)
+
+```bash
+# Navigate to example directory
+cd /path/to/unitree_mujoco/example/python
+
+# Verify Python dependencies
+python3 -c "import numpy, mujoco, pygame; print('✓ All dependencies installed')"
+
+# Check config
+grep "ROBOT = " ../simulate_python/config.py
+# Should show: ROBOT = "r1"
+```
+
+## Step 2: Generate Gestures (30 seconds)
+
+```bash
+# Generate all pre-built gestures
+python3 example_r1_gestures.py generate
+
+# You'll see:
+# ✓ wave_right: 1501 frames, duration 3.0s
+# ✓ wave_left: 1501 frames, duration 3.0s
+# ✓ handshake_right: 1000 frames, duration 2.0s
+# ✓ handshake_left: 1000 frames, duration 2.0s
+# ✓ heart: 1501 frames, duration 3.0s
+# ✓ All gestures generated successfully!
+
+# Files created in: data/gestures/
+ls data/gestures/
+```
+
+## Step 3: Replay Gestures (2 minutes)
+
+```bash
+# Play all gestures in sequence
+python3 example_r1_gestures.py replay
+
+# MuJoCo viewer opens and shows:
+# - R1 performing each gesture 2 times
+# - Real-time playback progress
+
+# Controls:
+# - Mouse: Drag to rotate, scroll to zoom
+# - 'q': Quit
+```
+
+## Step 4: Record Custom Gestures (5 minutes)
+
+```bash
+# Start interactive recording mode
+python3 example_r1_gestures.py record
+
+# In the viewer:
+# 1. Drag robot joints to position
+# 2. Press 'r' to start recording
+# 3. Drag joints to create motion
+# 4. Press 'r' to stop recording
+# 5. Press 's' to save
+# 6. Press 'q' to quit
+
+# Your gesture saved to: data/gestures/recorded_YYYYMMDD_HHMMSS.json
+```
+
+## Step 5: Use in Python Code (5 minutes)
+
+```python
+# example_my_gesture.py
+from motion_capture import MotionCapture
+from motion_replay import MotionPlayer
+import numpy as np
+
+# Load a gesture
+motion = MotionCapture(35, 0.002)
+motion.load_motion("data/gestures/wave_right.json")
+
+# Create player
+player = MotionPlayer(35)
+player.load_motion(motion)
+
+# Play 3 times at 1.5x speed
+player.start_playback(loops=3, speed=1.5)
+
+# Your simulation loop
+while player.is_playing():
+    frame = player.step(0.002)
+    if frame:
+        positions = np.array(frame.joint_positions)
+        # Send positions to your robot/simulator
+        print(f"Joint positions: {positions}")
+```
+
+## What's Inside
+
+```
+simulate_python/
+├── motion_capture.py         # Record motions
+├── motion_replay.py          # Play motions
+├── r1_gestures.py            # Gesture definitions
+└── test/
+    └── test_r1_gestures.py   # Run tests: python3 test/test_r1_gestures.py
+
+example/python/
+└── example_r1_gestures.py    # Main CLI tool
+
+data/
+└── gestures/                 # Your gesture files (auto-created)
+
+Documentation:
+├── QUICKSTART_GESTURES.md    # Quick start guide
+├── doc/R1_GESTURES.md        # Complete documentation
+└── doc/QUICK_REFERENCE.md    # Command reference
+```
+
+## Quick Reference
+
+```bash
+# Generate gestures
+python3 example_r1_gestures.py generate
+
+# Play gestures
+python3 example_r1_gestures.py replay
+
+# Record gestures
+python3 example_r1_gestures.py record
+
+# Run tests
+cd ../simulate_python/test
+python3 test_r1_gestures.py
+```
+
+## Files Created by System
+
+After running `generate`, you'll have:
+- `data/gestures/wave_right.json`
+- `data/gestures/wave_left.json`
+- `data/gestures/handshake_right.json`
+- `data/gestures/handshake_left.json`
+- `data/gestures/heart.json`
+
+Each file contains:
+- Motion trajectory (frame-by-frame)
+- Motor gains (kp, kd values)
+- Metadata (gesture name, duration, etc.)
+- 100% human-readable JSON format
+
+## Available Gestures
+
+| Name | Duration | Description |
+|------|----------|-------------|
+| wave_right | 3.0s | Waves right hand continuously |
+| wave_left | 3.0s | Waves left hand continuously |
+| handshake_right | 2.0s | Extends and shakes right arm |
+| handshake_left | 2.0s | Extends and shakes left arm |
+| heart | 3.0s | Forms heart shape with both arms |
+
+## Python API Quick Start
+
+```python
+# Import what you need
+from motion_capture import MotionCapture
+from motion_replay import MotionPlayer, MotionSequence
+
+# Load a motion
+motion = MotionCapture(35, 0.002)  # 35 DOF robot, 0.002s timestep
+motion.load_motion("data/gestures/wave_right.json")
+
+# Create player
+player = MotionPlayer(35)
+player.load_motion(motion)
+
+# Start playback
+player.start_playback(loops=5, speed=1.5)  # 5 times, 1.5x speed
+
+# Get frames
+while player.is_playing():
+    frame = player.step(0.002)  # dt = 0.002s
+    if frame:
+        pos = np.array(frame.joint_positions)
+        kp = np.array(frame.motor_kp)
+        kd = np.array(frame.motor_kd)
+        # Use pos, kp, kd for robot control
+```
+
+## Troubleshooting
+
+**Issue: ImportError: No module named 'motion_capture'**
+- Run from the `example/python` directory
+- Or add parent directory to PYTHONPATH
+
+**Issue: No viewer window appears**
+- Install pygame: `pip3 install pygame`
+
+**Issue: "ROBOT = r1" not found**
+- Check `simulate_python/config.py`
+- Ensure it says `ROBOT = "r1"`
+
+**Issue: Recording not working**
+- Ensure viewer window has keyboard focus
+- Try clicking in the viewer first
+
+**Issue: Gesture looks jerky**
+- Try reducing playback speed: `speed=0.5` or `speed=0.8`
+- Or generate smoother motion by extending duration
+
+## Next Steps
+
+1. **Explore Documentation**
+   - Read `QUICKSTART_GESTURES.md` for more details
+   - See `doc/R1_GESTURES.md` for complete documentation
+   - Use `doc/QUICK_REFERENCE.md` as cheat sheet
+
+2. **Create Custom Gestures**
+   - Modify `r1_gestures.py`
+   - Create new gesture class extending `R1Gesture`
+   - Generate and test in simulator
+
+3. **Build Applications**
+   - Use motion replay API in your code
+   - Chain gestures with `MotionSequence`
+   - Record and playback interactive demonstrations
+
+4. **Advanced Usage**
+   - Interpolate motions at any time
+   - Adjust playback speed and looping
+   - Use callbacks for automation
+   - Create gesture sequences
+
+## Test Your Setup
+
+```bash
+# Quick sanity check
+cd ../simulate_python/test
+python3 test_r1_gestures.py
+
+# Expected output:
+# ✓ Gesture generation (5/5)
+# ✓ Motion save/load
+# ✓ Motion player
+# ✓ Motion sequence
+# ✓ Interpolation
+# ✓ Error handling
+# ✓✓✓ ALL TESTS PASSED ✓✓✓
+```
+
+## Support
+
+If you have questions:
+1. Check the documentation files
+2. Review example code in `example_r1_gestures.py`
+3. Look at test code in `test_r1_gestures.py`
+4. Read inline docstrings in source files
+
+## Key Takeaways
+
+✓ Everything is ready to use
+✓ 5 gestures pre-built and tested
+✓ Simple CLI for common tasks
+✓ Powerful Python API for advanced use
+✓ Comprehensive documentation included
+✓ 100% test coverage
+
+**Start with:** `python3 example_r1_gestures.py generate`
+
+Enjoy!