VALIDATION.md

Validation of this update

Validated with MuJoCo 3.3.7, Python 3.12 and EGL offscreen rendering.

• 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.