Description

Hello, thank you for opening up such a great project.
I have replicated your functionality in Ubuntu 22.04, ROS2Humble, and particularly implemented simulation in mujoco.
At the same time, an issue was discovered that compared to previous versions, the waist of the G1 robot in mujoco v4.0.0 has been locked, no longer in three degrees of freedom. I originally thought that GVHMR+GMR+beyondmimic+rl_star might have an exception. And real deployment.
So I would like to ask if it is currently in a three degree of freedom or locked state, and if there will be any changes in the future. If the waist remains in a locked version, what work should I do to adapt to the latest version of rl_star.
Thanks.

Commit

main

Operating System (OS)

Ubuntu 22.04

ROS Version

Humble

Python Version

python 3.10

Additional information

No response