unitree-g1-basic-sim fails on startup: MuJoCo mjENBL_MULTICCD attribute missing

Description

What happened?

Running the built-in unitree-g1-basic-sim blueprint on Ubuntu starts DimOS and opens the Rerun viewer, but the G1 simulation fails during startup.

Multiple modules deploy successfully, including G1SimConnection, VoxelGridMapper, CameraModule, ReplanningAStarPlanner, and the Rerun components.

Startup then fails in G1SimConnection/start with:

AttributeError: type object 'mujoco._enums.mjtEnableBit' has no attribute 'mjENBL_MULTICCD'

After this error, DimOS stops the modules and shuts down the worker pool.

There are also two secondary issues visible during startup:

1. CameraModule attempts to open /dev/video0 and fails:

RuntimeError: Failed to open camera 0

2. The installed Rerun Viewer and SDK versions do not match:

Rerun Viewer: v0.32.0-alpha.1
Rerun SDK: v0.32.0

The MuJoCo mjENBL_MULTICCD error appears to be the fatal error that prevents the simulation from starting.

What did you expect?

unitree-g1-basic-sim should start the Unitree G1 simulation successfully without requiring a physical G1.

The simulated G1 should initialize and the blueprint should remain running until explicitly stopped.

System

Ubuntu 24.04

Robot / Sim / Hardware

Unitree G1 simulation only.

No physical G1 is connected for this test.

NVIDIA GPU available. VoxelGrid reports using CUDA:0.

Steps to reproduce

uv run dimos run unitree-g1-basic-sim

Environment

• Install method: uv
• DimOS commit: ea1cc9d39
• Python: 3.12.3
• MuJoCo: 3.10.0
• Rerun Viewer: v0.32.0-alpha.1
• Rerun SDK: v0.32.0
• OpenCV: 4.13.0

MuJoCo version was verified with:

uv run python -c "import mujoco; print(mujoco.__version__)"

Output:

3.10.0

Logs / screenshots

Startup proceeds normally and deploys the simulation modules:

01:35:29.071 [inf][imos/cli/commands/lifecycle.py] Starting DimOS
01:35:29.073 [inf][dination/module_coordinator.py] Building the blueprint
01:35:29.079 [inf][dination/module_coordinator.py] Starting the modules
01:35:30.191 [inf][ation/worker_manager_python.py] Worker pool started. n_workers=4
01:35:31.544 [inf][/coordination/python_worker.py] Deployed module. module=VoxelGridMapper module_id=4 worker_id=1
01:35:31.544 [inf][/coordination/python_worker.py] Deployed module. module=RerunWebSocketServer module_id=1 worker_id=1
01:35:31.920 [inf][/coordination/python_worker.py] Deployed module. module=CameraModule module_id=3 worker_id=3
01:35:31.924 [inf][/coordination/python_worker.py] Deployed module. module=RerunBridgeModule module_id=0 worker_id=0
01:35:32.054 [inf][/coordination/python_worker.py] Deployed module. module=G1SimConnection module_id=7 worker_id=1

Camera error:

[ WARN:0@0.010] global cap_v4l.cpp:914 open VIDEOIO(V4L2:/dev/video0): can't open camera by index

RuntimeError: Failed to open camera 0

Rerun version warning:

⚠ The version of the Rerun Viewer available on your PATH does not match the version of your Rerun SDK ⚠

Rerun Viewer: v0.32.0-alpha.1
Rerun SDK: v0.32.0

Fatal error:

01:35:35.037 [err][imos/protocol/rpc/pubsubrpc.py] Exception in RPC handler for G1SimConnection/start: type object 'mujoco._enums.mjtEnableBit' has no attribute 'mjENBL_MULTICCD'

The final traceback ends with:

ExceptionGroup: safe_thread_map failed (1 sub-exception)

AttributeError: type object 'mujoco._enums.mjtEnableBit' has no attribute
'mjENBL_MULTICCD'

After the failure, DimOS shuts down the remaining modules and workers.

Start by running uv run dimos run unitree-g1-basic-sim and inspect the G1SimConnection/start entry point where the mjENBL_MULTICCD AttributeError occurs. Verify the available MuJoCo enum against the configured MuJoCo 3.10.0 environment, then confirm the simulated G1 starts and the blueprint remains running without physical hardware.