k-valentin/unitree-g1-mujoco

1# Validation of this update2 3Validated with MuJoCo 3.3.7, Python 3.12 and EGL offscreen rendering.4 5- Five regression tests passed using real MuJoCo: both variants and their body6  control mappings, gripper closure under external PD with a 20 N force cap,7  independent wrist-camera motion, rendering and shared-memory publication of8  all three 640 × 480 streams, and loading the portable 33-joint gripper URDF.9- Gripper scene: `nq=40`, `nv=39`, `nu=33`. Hand scene: `nq=50`, `nv=49`, `nu=43`.10  Both retain the 29 body joints in the original DDS order. Both also retain11  `global_view` in addition to the three streamed cameras.12- The closure test ran 250 physics steps (1 simulated second), reached closure13  on both grippers, stayed within the 20 N actuator limit and reported no14  MuJoCo numerical warnings.15- Original hand/no-hand model assets are retained. The hand camera variant16  adds cameras to a copy of the original model.17 18The regression tests replace only the DDS dependency with a test double.19A complete live LeRobot/Gym/DDS/ZMQ connection was **not run** here because20Gymnasium, Unitree SDK2/CycloneDDS, ZMQ and OpenCV were unavailable in the21execution environment. `tests/smoke_live.py` is included to run that check on22a machine with the runtime dependencies installed. The ZMQ publisher and23message serializer are unchanged; the configured camera list now includes24the wrists.25 26The Gym wrapper's acceleration contribution is restricted to three values,27matching its declared 97-value observation space. This fixes the original28wrapper's mismatch of 100 returned values versus 97 declared values.29 30Prepared against Hugging Face model revision31`a38dc8617f0fca51b38e9354dc58ee35ad850fb5`, with the LeRobot loader and camera32configuration reviewed at `b6ec0060779550c0a157ae34feb89e0cf86012a8`.33The archive is a complete local model-repository update; it has not been34published to Hugging Face.35