[Bug Report] Visual Glitches in G1 MJCF to USD Conversion

[rafaelcathomen]

Converting the unitree g1 mjcf to usd results in a model with visual artifacts. The physics are correct, but the visual geometry is not rendered properly (see video below)

g1_mjcf_to_usd.1.mp4

[pandawater]

Thank you for reporting this issue. We're currently looking into it.

[Frankkkkchen]

we just fixed the issue, please try it, thanks

[rafaelcathomen]

Thank you for the updated. I tried it again with the same g1 mjcf. I think the visuals are now at the right place but it seems like the physics are now broken.

Screencast.from.2025-07-22.09-31-37.webm