Problem
The repo currently ships only the 29-DOF Unitree G1 MJCF asset at assets/robots/unitree_g1/g1_29dof.xml. wbc_agile runs against the 35-DOF G1 config, so the new MuJoCo-backed showcase path cannot honestly simulate that embodiment yet.
Goal
Add a supported 35-DOF MuJoCo asset/config path so the WBC-AGILE showcase can join the same sim-backed 3D report flow as the other live G1 policies.
Scope
- source or author a 35-DOF G1 MJCF path that matches
configs/robots/unitree_g1_35dof.toml
- validate actuator order, sensor layout, and control dimensions
- add a WBC-AGILE sim showcase config once the asset is stable
- document any remaining embodiment compromises explicitly if fingers/hands stay simplified
Acceptance Criteria
wbc_agile has an honest MuJoCo-backed showcase path against a matching embodiment- The sim-backed report does not silently drop extra joints or fake a 29-DOF scene for a 35-DOF policy
Problem
The repo currently ships only the 29-DOF Unitree G1 MJCF asset at
assets/robots/unitree_g1/g1_29dof.xml.wbc_agileruns against the 35-DOF G1 config, so the new MuJoCo-backed showcase path cannot honestly simulate that embodiment yet.Goal
Add a supported 35-DOF MuJoCo asset/config path so the WBC-AGILE showcase can join the same sim-backed 3D report flow as the other live G1 policies.
Scope
configs/robots/unitree_g1_35dof.tomlAcceptance Criteria
wbc_agilehas an honest MuJoCo-backed showcase path against a matching embodiment