Interactive MuJoCo-based poser and crawl-gait tuner for the Unitree G1, powered by MINK IK. The entrypoint and focus of this repo is main.py.

Quick start

pip3 install uv
uv sync
uv run main.py

What main.py provides

• Live IK gait tuning: place hands/feet with simple 2D pads, set lift heights, duty/phase, and symmetry; MINK solves IK at ~200 Hz.
• Camera controls: azimuth, elevation, distance.
• Import/Export: save/load compact gait configs to output/gait_*.json.
• Animation export: write 3-cycle gait_animation.v1 JSON (output/animation_*.json) with qpos frames and site positions for offline playback (e.g., Isaac Sim).
• Model: uses g1_description/scene_g1_targets.xml.

Notes on other scripts

• Older scripts have been moved to scripts/. They have not been re-tested after the move and may be outdated/broken. Use at your own risk.
• Some of those scripts (e.g., real control) depend on Unitree SDK2 + CycloneDDS. If you explore them, you may need something like:

export CYCLONEDDS_HOME="$HOME/cyclonedds/install"

Dev warning: Tkinter + MuJoCo threading

• Avoid ttk.Entry/tk.Entry with the MuJoCo viewer (can crash XCB). Use ttk.Label displays with variable traces instead.
• Defer mujoco.* calls that depend on the viewer until after the viewer is launched. main.py follows these patterns.

New reference

• scripts/mink_g1_ik_reference.py: concise, modern Mink IK example for G1 with mocap targets. Run:

uv run scripts/mink_g1_ik_reference.py