Full Robot Collision

As I observe, the robots in experimental folder have the feet only feature. When I tried to substitute the full collision robot model, such as unitree G1, with warp (since MJX has sharp bits), the code is unstable, and the memory cost is high. Am I missing some tutorials for the full robot collision simulations?

Send a repro either to this repo or to MuJoCo Warp

Thank you. This makes more sense.