Pim/feat/g1 groot wbc#2033

Open

Nabla7 wants to merge 33 commits into

mainfrom

pim/feat/g1-groot-wbc

Commits on May 6, 2026

feat(g1-wbc): groot-wbc real-hw + sim blueprints
Nabla7
committed
feat(g1-wbc-sim): DIMOS_MUJOCO_VIEW=1 spawns native MuJoCo viewer in a separate process
Nabla7
committed
fix(g1-wbc-sim): inject menagerie mesh assets in MuJoCo viewer subprocess
Nabla7
committed
fix(g1-wbc-sim): tick_rate=50 + decimation=1 + ramp=0 to match GR00T training rate
Nabla7
committed
fix(g1-wbc-sim): strip lidar/scene-mesh/multi-camera from mujoco_sim_module
Nabla7
committed
chore(g1-wbc): drop unused drive_trains/go2 + revert pyproject/uv.lock to dev (1500 LOC)
Nabla7
committed
fix: restore dev's unitree_go2 drive_train (accidentally deleted in cleanup)
Nabla7
committed
chore(g1-wbc): drop perception2/viser leaks + test file (defer to follow-up)
Nabla7
committed
chore(g1-wbc): drop __init__.py files, match repo namespace-package convention
Nabla7
committed
chore(g1-wbc): drop simulation/mujoco/model.py changes (unrelated to PR)
Nabla7
committed

Commits on May 7, 2026

Commits on May 8, 2026

fix(g1-wbc): mypy errors uncovered by full CI-matching env
Nabla7
committed

Commits on May 9, 2026

-
jeff-hykin
committed
-
jeff-hykin
committed

Commits on May 11, 2026