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[WIP] Add Mujoco sim2sim deployment pipeline for carrybox task #9

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[WIP] Add Mujoco sim2sim deployment pipeline for carrybox task #9

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@windigal windigal commented Dec 2, 2025

Description

This PR implements the sim2sim pipeline for deploying MuJoCo on the carrybox task.

Current Status

  • Implemented the observation mapping and controller.
  • Modified the G1 29-DOF MJCF file to correspond with the training URDF file.
  • The performance is not ideal. G1 tends to tip over backwards at the very beginning of the episode, which is similar to the instability issue described in Discussion about sim2sim pipeline in mujoco #6.

@windigal windigal mentioned this pull request Dec 2, 2025
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@windigal