| # Experimental BrainCo Validation (2026-09-24) |
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|
| Tested with MuJoCo 3.12.0, Python 3.12.14, EGL and the workspace's pinned |
| CycloneDDS build `5041f3560c088c99e5088b2b8520b69169621196`. |
|
|
| - 12 Hub unit/physics/render tests pass, including six independent motors per |
| hand, coupling, contact-limited closure, reset and fork-aware asset hydration. |
| - Runtime snapshot `9fc57a0c890c60d45e01d47c27f7010935f738dc` of |
| `davidwei79/unitree-g1-mujoco-brainco` passed the matching LeRobot acceptance |
| test twice. The first run began with an empty Hugging Face cache. It used the |
| normal Hub downloader, no local resolver or simulator substitution. |
| - Five poses per run: both open, both partially closed, left only, right only |
| with elbow movement, both reopen. Gravity enabled; measured hand tracking |
| error required below 0.03 normalized units; startup and shutdown checked. |
| - Four CLI-validation cases pass (immutable pins and bounded viewer options). |
| - Existing live DDS body and ZMQ camera smoke tests passed separately for |
| BrainCo, dummy, Dex1 and Dex3. |
| - Visual open/closed images were inspected headlessly. No native X-window, |
| headset, physical-hand or handshake-dataset replay acceptance is claimed. |
|
|
| The matching LeRobot changes are on the local `work/brainco-simulation-replay` |
| branch, not yet merged upstream. These results do not imply released LeRobot |
| supports the BrainCo option. See `BRAINCO.md` for contract and limitations. |
|
|
| ## Historical Gripper Update (Not BrainCo Evidence) |
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|
| The following notes are retained from the original model repository and describe |
| an earlier environment and validation scope, not the current publication status. |
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|
| Validated with MuJoCo 3.3.7, Python 3.12 and EGL offscreen rendering. |
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|
| - Five regression tests passed using real MuJoCo: both variants and their body |
| control mappings, gripper closure under external PD with a 20 N force cap, |
| independent wrist-camera motion, rendering and shared-memory publication of |
| all three 640 × 480 streams, and loading the portable 33-joint gripper URDF. |
| - Gripper scene: `nq=40`, `nv=39`, `nu=33`. Hand scene: `nq=50`, `nv=49`, `nu=43`. |
| Both retain the 29 body joints in the original DDS order. Both also retain |
| `global_view` in addition to the three streamed cameras. |
| - The closure test ran 250 physics steps (1 simulated second), reached closure |
| on both grippers, stayed within the 20 N actuator limit and reported no |
| MuJoCo numerical warnings. |
| - Original hand/no-hand model assets are retained. The hand camera variant |
| adds cameras to a copy of the original model. |
|
|
| The regression tests replace only the DDS dependency with a test double. |
| A complete live LeRobot/Gym/DDS/ZMQ connection was **not run** here because |
| Gymnasium, Unitree SDK2/CycloneDDS, ZMQ and OpenCV were unavailable in the |
| execution environment. `tests/smoke_live.py` is included to run that check on |
| a machine with the runtime dependencies installed. The ZMQ publisher and |
| message serializer are unchanged; the configured camera list now includes |
| the wrists. |
|
|
| The Gym wrapper's acceleration contribution is restricted to three values, |
| matching its declared 97-value observation space. This fixes the original |
| wrapper's mismatch of 100 returned values versus 97 declared values. |
|
|
| Prepared against Hugging Face model revision |
| `a38dc8617f0fca51b38e9354dc58ee35ad850fb5`, with the LeRobot loader and camera |
| configuration reviewed at `b6ec0060779550c0a157ae34feb89e0cf86012a8`. |
| The archive is a complete local model-repository update; it has not been |
| published to Hugging Face. |
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|
