Add optional keyboard control for MuJoCo sim2sim (no gamepad required)#6
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lez666 wants to merge 3 commits intojloganolson:mainfrom
Open
Add optional keyboard control for MuJoCo sim2sim (no gamepad required)#6lez666 wants to merge 3 commits intojloganolson:mainfrom
lez666 wants to merge 3 commits intojloganolson:mainfrom
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Main Changes: - Add complete keyboard control functionality (run_sim2sim_keyboard.py) - Implement cross-platform keyboard input handling using pynput library - Support all original gamepad features including movement control, mode switching, policy switching, and gain adjustment Key Features: - Arrow keys for forward/backward and lateral movement - IJK keys for mode switching (I=stand, J=damped, K=crawl) - Z/C keys for rotation control - SPACE key for policy cycling - Q/A/H keys for real-time gain adjustment - ESC key to exit program Technical Details: - Uses pynput library, no root required on Linux - Complete key state management and edge detection - Seamless integration with original code architecture - Preserves all safety monitoring features Documentation: - README_keyboard_zh.md (Chinese version) - README_keyboard_en.md (English version) - Updated main README.md with enhanced features section - Added demo animation (robot_crawling_demo.gif) Dependencies: - Updated requirements.txt to include pynput>=1.7.6
Changes: - Add KEYBOARD_SIM2SIM.md as main keyboard control reference - Update main README.md with keyboard control section - Consolidate sim2sim_mj/README.md content into KEYBOARD_SIM2SIM.md - Remove redundant sim2sim_mj/README.md - Update last modified dates to 2026.1 in keyboard documentation Documentation improvements: - Streamlined keyboard control overview - Clear separation between quick reference and detailed docs - Better integration with main project README
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Summary
This PR adds an optional keyboard-based controller for the MuJoCo sim2sim pipeline.
The goal is to remove the hard dependency on a physical gamepad for interactive playback,
making sim2sim usable on laptops, remote machines, and development environments.
Key Points
sim2sim_mj/Features
How to Test