#!/usr/bin/env python3
"""Headless entrypoint for the Unitree G1 MuJoCo sim container.

Runs the hub repo's own ``run_sim.py`` with container-friendly defaults
(no on-screen viewer; camera rendering off by default). Controlled via env vars:

    G1_SIM_DIR        directory holding the baked hub sim (default: /opt/g1-sim)
    G1_PUBLISH_IMAGES "1" to render + publish head camera over ZMQ (needs GL), else off
    G1_CAMERA_PORT    ZMQ port for camera images (default: 5555)
"""

import os
import sys

SIM_DIR = os.environ.get("G1_SIM_DIR", "/opt/g1-sim")
sys.path.insert(0, SIM_DIR)
os.chdir(SIM_DIR)

import run_sim  # noqa: E402  (imported after sys.path insert)

publish_images = os.environ.get("G1_PUBLISH_IMAGES", "0") == "1"
camera_port = int(os.environ.get("G1_CAMERA_PORT", "5555"))

run_sim.main(publish_images=publish_images, camera_port=camera_port)