feat: attach-on-close kinematic grasp for the pick_cylinder world (WORLD_GRASP)

feat: grasp physics per the reference hand: slim finger cores, fingertip capsules, elliptic cone world option

fix: write composed scenes atomically so parallel processes never read a partial file

wip: open AmazingHands at world reset, grasp test tweaks and header numbers

feat: AmazingHand collision geoms so the fingers can grasp

feat: pick_cylinder world (table + free cylinder) selectable with WORLD

feat: {side}_tcp site in every end effector for XR arm IK

fix: compose from the Hugging Face cache, whose files are symlinks

feat: independent head mount and head sensor; stock D435i sensor

refactor: drop the grippers/hands end effector aliases; dex1 and dex3 are the only names

refactor: drop the dummy end effector alias; rubber_hand is the only name

refactor: split the head into a pan/tilt mount and a D455 sensor

refactor: extract bodies and end effectors into reusable parts files

chore: remove unused exoskeleton URDFs and AmazingHand export sidecars

refactor: group model composition in sim/mjcf; test the asset generators

refactor: name models by body and end effector; move builders into sim/ and tools/

feat: compose any body / end effector / head at load time

refactor: import the head/hand bridge from lerobot.robots.unitree_g1

Name the head and hand joints in the G1 MJCF style, matching lerobot's Unitree-style motor names

Import the LeRobot key feed lazily so loading the model does not import torch

Forward viewer key events to LeRobot's keyboard teleoperator (Wayland has no pynput capture)

Add the 23dof + D455 pan/tilt head + AmazingHand variant (default) with the sim head/hand ZMQ bridge

Add DualShock 4 joystick mapping, JOYSTICK_* env overrides, LICENSE and third-party notices

Import lerobot/unitree-g1-mujoco@68459ed6 + 23dof (rev_1_0) body variant, defaults BODY=23dof END_EFFECTOR=dummy