LeRobot G1 Native — GR00T decoupled WBC

Env: lerobot/unitree-g1-mujoco via make_env()
Controller: GR00T decoupled WBC (15 DOF)
Integration: Native LeRobot factory + RobotHarnessWrapper

initial

Step: 1 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

walking

Step: 375 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

final

Step: 500 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

Generated by examples/lerobot_g1_native.py --controller groot