Twenty-nine joints, real physics.
Unitree G1 · MuJoCoRobinhood Chain
A humanoid learning to walk, in public.
Twenty-nine joints on real MuJoCo physics, running in this page. Move the robot yourself on the rig, then replay the current generation, whatever it has learned to do by now.
Walk it with the joystick, push it over, weaken one joint and watch it compensate, race two generations against each other. All of those run the policy from the newest published generation, and the training console shows how far it has got. You can also take the rig and move all twenty-nine joints yourself.