Add deterministic registry simulation renders - #16
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Headless MuJoCo runtime (faithful port of upstream infer_policy.py, validated observation-exact and trajectory-level to ~3% over 8s) runs each changed behavior descriptor in PR CI: - simulation/: pinned MJCF assets, command profiles derived from robotd_slot (velocity showcase, sitstand, one-shot zero/phase), pass/fail checks, deterministic 512x512 H.264 loop + poster render - Sim Check workflow: per-descriptor matrix, artifact uploads, summaries - optional descriptor 'simulation' block (JSON Schema + zod + tests) - docs: CONTRIBUTING section, README section, viability research note Validated live on 4 behavior classes: alpha-walking (velocity), sit-stand (recovery), roulade (one-shot roll), and a third-party community ONNX (genesis-velocity via raw.githubusercontent).
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Summary
Verification
pnpm checkrunningis explicitly classified as external because its 2.2 m/s task is outside the registry standard-v1 runner