diff --git a/example/python/stand_go2.py b/example/python/stand_go2.py
index ca52195a..91ce650e 100644
--- a/example/python/stand_go2.py
+++ b/example/python/stand_go2.py
@@ -1,5 +1,6 @@
 import time
 import sys
+import platform
 import numpy as np
 
 from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber
@@ -29,7 +30,8 @@
 if __name__ == '__main__':
 
     if len(sys.argv) <2:
-        ChannelFactoryInitialize(1, "lo")
+        interface = "lo0" if platform.system() == "Darwin" else "lo"
+        ChannelFactoryInitialize(1, interface)
     else:
         ChannelFactoryInitialize(0, sys.argv[1])
 
diff --git a/readme.md b/readme.md
index b6c8d9bd..f0871b26 100644
--- a/readme.md
+++ b/readme.md
@@ -34,6 +34,82 @@ Note:
 
 
 # Installation
+
+## macOS (Python Simulator only)
+
+The C++ simulator cannot run natively on macOS because `unitree_sdk2` ships a pre-compiled Linux static library (`libunitree_sdk2.a`). The Python simulator uses all cross-platform dependencies and works natively on macOS.
+
+### 1. Prerequisites
+```bash
+brew install python@3.11 cmake
+```
+
+### 2. Python dependencies
+```bash
+pip3 install mujoco pygame numpy cyclonedds
+```
+
+If `pip install cyclonedds` fails, build from source:
+```bash
+git clone https://github.com/eclipse-cyclonedds/cyclonedds.git
+cd cyclonedds && mkdir build && cd build
+cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/cyclonedds-install
+make -j4 && make install
+export CYCLONEDDS_HOME=$HOME/cyclonedds-install
+pip3 install cyclonedds
+```
+
+If `pip install pygame` fails (SDL2 missing):
+```bash
+brew install sdl2
+pip3 install pygame
+```
+
+### 3. Install unitree_sdk2_python
+```bash
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python
+pip3 install -e .
+```
+
+### 4. Configure for G1
+In `simulate_python/config.py`, set:
+```python
+ROBOT = "g1"
+USE_JOYSTICK = 0  # Set to 1 if you have a gamepad
+```
+
+The loopback interface is auto-detected (`lo0` on macOS, `lo` on Linux).
+
+### 5. Run
+
+On macOS, MuJoCo requires `mjpython` (installed with the `mujoco` package) instead of `python3` for GUI rendering. A convenience script is provided:
+```bash
+cd simulate_python
+./run_sim.sh
+```
+Or manually:
+```bash
+cd simulate_python
+DYLD_LIBRARY_PATH=$(.venv/bin/python3 -c 'import sysconfig; print(sysconfig.get_config_var("LIBDIR"))') \
+  ../.venv/bin/mjpython unitree_mujoco.py
+```
+You should see the MuJoCo viewer open with the G1 robot loaded.
+
+In a new terminal, run the G1 test (uses `unitree_hg` IDL):
+```bash
+cd simulate_python
+../.venv/bin/python3 test/test_g1.py
+```
+
+The program will output the robot's IMU and position data, and each motor will output 0.5Nm torque.
+
+**Note:** The existing `test/test_unitree_sdk2.py` uses the `unitree_go` IDL (for Go2/B2/H1). For G1, use `test/test_g1.py` which uses the `unitree_hg` IDL.
+
+---
+
+## Linux
+
 ## C++ Simulator (simulate)
 ### 1. Dependencies
 
diff --git a/simulate_python/config.py b/simulate_python/config.py
index 55ed0431..6f7ad0ba 100644
--- a/simulate_python/config.py
+++ b/simulate_python/config.py
@@ -1,9 +1,11 @@
-ROBOT = "go2" # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1" 
+import platform
+
+ROBOT = "g1" # Robot name, "go2", "b2", "b2w", "h1", "go2w", "g1"
 ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/scene.xml" # Robot scene
 DOMAIN_ID = 1 # Domain id
-INTERFACE = "lo" # Interface 
+INTERFACE = "lo0" if platform.system() == "Darwin" else "lo" # Interface (lo0 on macOS, lo on Linux)
 
-USE_JOYSTICK = 1 # Simulate Unitree WirelessController using a gamepad
+USE_JOYSTICK = 0 # Simulate Unitree WirelessController using a gamepad
 JOYSTICK_TYPE = "xbox" # support "xbox" and "switch" gamepad layout
 JOYSTICK_DEVICE = 0 # Joystick number
 
diff --git a/simulate_python/run_sim.sh b/simulate_python/run_sim.sh
new file mode 100755
index 00000000..770572bb
--- /dev/null
+++ b/simulate_python/run_sim.sh
@@ -0,0 +1,21 @@
+#!/usr/bin/env bash
+# Launch the MuJoCo simulator on macOS using mjpython.
+# mjpython is required because macOS needs GUI operations on the main thread.
+#
+# Usage: ./run_sim.sh
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+VENV_DIR="$SCRIPT_DIR/../.venv"
+
+if [ ! -f "$VENV_DIR/bin/mjpython" ]; then
+    echo "Error: mjpython not found. Set up the venv first:"
+    echo "  cd $(dirname "$SCRIPT_DIR") && uv venv --python 3.11 .venv && uv pip install mujoco pygame numpy"
+    exit 1
+fi
+
+# mjpython needs libpython on DYLD_LIBRARY_PATH when using uv-managed Python
+PYTHON_LIBDIR="$("$VENV_DIR/bin/python3" -c 'import sysconfig; print(sysconfig.get_config_var("LIBDIR"))')"
+export DYLD_LIBRARY_PATH="$PYTHON_LIBDIR${DYLD_LIBRARY_PATH:+:$DYLD_LIBRARY_PATH}"
+
+cd "$SCRIPT_DIR"
+exec "$VENV_DIR/bin/mjpython" unitree_mujoco.py "$@"
diff --git a/simulate_python/test/test_g1.py b/simulate_python/test/test_g1.py
new file mode 100644
index 00000000..25fe47a0
--- /dev/null
+++ b/simulate_python/test/test_g1.py
@@ -0,0 +1,62 @@
+import time
+import platform
+from unitree_sdk2py.core.channel import ChannelFactoryInitialize
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber
+from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowState_
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_
+from unitree_sdk2py.utils.crc import CRC
+
+NUM_MOTORS = 29
+
+
+def HighStateHandler(msg: SportModeState_):
+    print("Position: ", msg.position)
+
+
+def LowStateHandler(msg: LowState_):
+    print("IMU state: ", msg.imu_state)
+
+
+if __name__ == "__main__":
+    interface = "lo0" if platform.system() == "Darwin" else "lo"
+    ChannelFactoryInitialize(1, interface)
+
+    high_state_suber = ChannelSubscriber("rt/sportmodestate", SportModeState_)
+    low_state_suber = ChannelSubscriber("rt/lowstate", LowState_)
+
+    high_state_suber.Init(HighStateHandler, 10)
+    low_state_suber.Init(LowStateHandler, 10)
+
+    low_cmd_puber = ChannelPublisher("rt/lowcmd", LowCmd_)
+    low_cmd_puber.Init()
+    crc = CRC()
+
+    cmd = unitree_hg_msg_dds__LowCmd_()
+    cmd.mode_pr = 0
+    cmd.mode_machine = 0
+
+    for i in range(NUM_MOTORS):
+        cmd.motor_cmd[i].mode = 0x01  # (PMSM) mode
+        cmd.motor_cmd[i].q = 0.0
+        cmd.motor_cmd[i].kp = 0.0
+        cmd.motor_cmd[i].dq = 0.0
+        cmd.motor_cmd[i].kd = 0.0
+        cmd.motor_cmd[i].tau = 0.0
+
+    while True:
+        for i in range(NUM_MOTORS):
+            cmd.motor_cmd[i].q = 0.0
+            cmd.motor_cmd[i].kp = 0.0
+            cmd.motor_cmd[i].dq = 0.0
+            cmd.motor_cmd[i].kd = 0.0
+            cmd.motor_cmd[i].tau = 0.5
+
+        cmd.crc = crc.Crc(cmd)
+
+        # Publish message
+        low_cmd_puber.Write(cmd)
+        time.sleep(0.002)
diff --git a/simulate_python/test/test_unitree_sdk2.py b/simulate_python/test/test_unitree_sdk2.py
index 771cb4b1..0ad2dcf6 100644
--- a/simulate_python/test/test_unitree_sdk2.py
+++ b/simulate_python/test/test_unitree_sdk2.py
@@ -1,4 +1,5 @@
 import time
+import platform
 from unitree_sdk2py.core.channel import ChannelFactoryInitialize
 from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber
 from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_
@@ -21,7 +22,8 @@ def LowStateHandler(msg: LowState_):
 
 
 if __name__ == "__main__":
-    ChannelFactoryInitialize(1, "lo")
+    interface = "lo0" if platform.system() == "Darwin" else "lo"
+    ChannelFactoryInitialize(1, interface)
     hight_state_suber = ChannelSubscriber("rt/sportmodestate", SportModeState_)
     low_state_suber = ChannelSubscriber("rt/lowstate", LowState_)
 
diff --git a/simulate_python/unitree_mujoco.py b/simulate_python/unitree_mujoco.py
index 95b934fe..3add1ef3 100755
--- a/simulate_python/unitree_mujoco.py
+++ b/simulate_python/unitree_mujoco.py
@@ -1,4 +1,7 @@
 import time
+import sys
+import os
+import platform
 import mujoco
 import mujoco.viewer
 from threading import Thread
@@ -9,6 +12,11 @@
 
 import config
 
+if platform.system() == "Darwin" and "MJPYTHON_BIN" not in os.environ:
+    print("Error: On macOS, MuJoCo requires 'mjpython' for GUI rendering.")
+    print("Run with:  mjpython unitree_mujoco.py")
+    sys.exit(1)
+
 
 locker = threading.Lock()
 
diff --git a/simulate_python/unitree_sdk2py_bridge.py b/simulate_python/unitree_sdk2py_bridge.py
index a9ca97ae..800ca913 100644
--- a/simulate_python/unitree_sdk2py_bridge.py
+++ b/simulate_python/unitree_sdk2py_bridge.py
@@ -300,8 +300,8 @@ def SetupJoystick(self, device_id=0, js_type="xbox"):
             self.joystick = pygame.joystick.Joystick(device_id)
             self.joystick.init()
         else:
-            print("No gamepad detected.")
-            sys.exit()
+            print("Warning: No gamepad detected. Continuing without joystick support.")
+            return
 
         if js_type == "xbox":
             self.axis_id = {