Update run_sim.py

run_sim.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 """Standalone MuJoCo simulator for Unitree G1"""
-import argparse
 import sys
 from pathlib import Path
 
@@ -10,23 +9,20 @@ sys.path.insert(0, str(Path(__file__).parent))
 import yaml
 from sim.simulator_factory import SimulatorFactory, init_channel
 
-def main():
-    parser = argparse.ArgumentParser(description="Unitree G1 MuJoCo Simulator")
-    parser.add_argument("--publish-images", action="store_true", 
-                       help="Enable camera image publishing via ZMQ (requires offscreen rendering)")
-    parser.add_argument("--camera-port", type=int, default=5554,
-                       help="ZMQ port for camera publishing (default: 5555)")
-    parser.add_argument("--cameras", type=str, nargs="+", default=None,
-                       help="Camera names to publish (default: head_camera)")
-    args = parser.parse_args()
+def main(n_envs=1, use_async_envs: bool = False, 
+             publish_images=True, camera_port=5554, cameras=None, **kwargs):
+    # Use default values
+    publish_images = True
+    camera_port = 5554
+    cameras = None
     
     # Load config
     config_path = Path(__file__).parent / "config.yaml"
     with open(config_path) as f:
         config = yaml.safe_load(f)
     
-    # Override config with command line args
-    enable_offscreen = args.publish_images or config.get("ENABLE_OFFSCREEN", False)
+    # Override config with default values
+    enable_offscreen = publish_images or config.get("ENABLE_OFFSCREEN", False)
     
     print("="*60)
     print("🤖 Starting Unitree G1 MuJoCo Simulator")
@@ -38,10 +34,10 @@ def main():
     # Configure cameras if requested
     camera_configs = {}
     if enable_offscreen:
-        camera_list = args.cameras or ["head_camera"]
+        camera_list = cameras or ["head_camera"]
         for cam_name in camera_list:
             camera_configs[cam_name] = {"height": 480, "width": 640}
-        print(f"📷 Cameras: {', '.join(camera_list)} → ZMQ port {args.camera_port}")
+        print(f"📷 Cameras: {', '.join(camera_list)} → ZMQ port {camera_port}")
     
     print("="*60)
     
@@ -59,14 +55,14 @@ def main():
     
     # Start simulator (blocking)
     print("\nSimulator running. Press Ctrl+C to exit.")
-    if enable_offscreen and args.publish_images:
-        print(f"Camera images publishing on tcp://localhost:{args.camera_port}")
+    if enable_offscreen and publish_images:
+        print(f"Camera images publishing on tcp://localhost:{camera_port}")
     try:
         SimulatorFactory.start_simulator(
             sim,
             as_thread=False,
-            enable_image_publish=args.publish_images,
-            camera_port=args.camera_port,
+            enable_image_publish=publish_images,
+            camera_port=camera_port,
         )
     except KeyboardInterrupt:
         print("\nShutting down simulator...")