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TATP-233TATP-233
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fix(config): restore current-task Motrix owners
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Lines changed: 281 additions & 13 deletions

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‎docs/sphinx/source/en/5-reference/5-support_matrix.md‎

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@@ -86,16 +86,16 @@ This table is derived from UniSim's SDK-free public static inventory. It describ
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| Entrypoint | Task owner | MuJoCo | Motrix | Drake | mjwarp | Newton | SuperDex | Genesis |
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|------------|------------|---|---|---|---|---|---|---|
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| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Registered | Configured | - | - | Configured | - |
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| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Tested | Registered | - | Configured |
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| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Registered | Registered | - | Registered |
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| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Tested | Configured | - | - | Configured | - |
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| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Tested | Registered | - | Configured |
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| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Registered | Registered | - | Registered |
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| APPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Tested | Registered | - | - | Registered | - |
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| APPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Registered | Registered | - | Registered |
94-
| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Registered | Registered | - | Registered |
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| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Registered | Registered | - | Registered |
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| SAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Tested | Tested | - | Tested |
96-
| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Configured | Registered | - | Configured |
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| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Configured | Registered | - | Configured |
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| FlashSAC (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Registered | Registered | - | - | Registered | - |
98-
| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Configured | Registered | - | Registered |
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| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Configured | Registered | - | Registered |
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| FlashSAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Configured | Configured | - | Configured |
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### Source Index

‎docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md‎

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@@ -77,16 +77,16 @@ uv run scripts/generate_support_matrix.py --write
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| Entrypoint | Task owner | MuJoCo | Motrix | Drake | mjwarp | Newton | SuperDex | Genesis |
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|------------|------------|---|---|---|---|---|---|---|
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| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Registered | Configured | - | - | Configured | - |
81-
| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Tested | Registered | - | Configured |
82-
| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Registered | Registered | - | Registered |
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| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Tested | Configured | - | - | Configured | - |
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| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Tested | Registered | - | Configured |
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| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Registered | Registered | - | Registered |
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| APPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Tested | Registered | - | - | Registered | - |
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| APPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Registered | Registered | - | Registered |
85-
| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Registered | Registered | - | Registered |
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| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Registered | Registered | - | Registered |
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| SAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Tested | Tested | - | Tested |
87-
| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | - | Configured | Registered | - | Configured |
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| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Configured | Registered | - | Configured |
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| FlashSAC (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | Registered | Registered | - | - | Registered | - |
89-
| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | - | Configured | Registered | - | Registered |
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| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | - | Configured | Registered | - | Registered |
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| FlashSAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Tested | - | Configured | Configured | - | Configured |
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### Source Index

‎src/unilab/conf/appo/task/g1_motion_tracking/motrix.yaml‎

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# @package _global_
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defaults:
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- /task/g1_motion_tracking/mujoco
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- _self_
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training:
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task_name: G1MotionTracking
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sim_backend: motrix

‎src/unilab/conf/flashsac/task/g1_walk_flat/motrix.yaml‎

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# @package _global_
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# FlashSAC Motrix owner: keeps the MuJoCo owner's FlashSAC algo identity while
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# adopting the Motrix-direction reward retuning; kp/kd randomization disabled.
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defaults:
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- /task/g1_walk_flat/base
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- _self_
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training:
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task_name: G1WalkFlat
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sim_backend: motrix
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algo:
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num_envs: 4096
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learning_starts: 49
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max_iterations: 5000
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save_interval: 1000
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updates_per_step: 8
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replay_buffer_n: 256
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tau: 0.05
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env:
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events:
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# Legacy Motrix owners disable kp/kd randomization.
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pd_gains: null
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reward:
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tracking_lin_vel:
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weight: 2.2
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tracking_ang_vel:
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weight: 1.8
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penalty_ang_vel_xy:
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weight: -1.2
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penalty_orientation:
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weight: -12.0
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penalty_action_rate:
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weight: -2.5
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pose:
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weight: -0.6
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params:
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pose_weights: [0.01, 2.0, 5.0, 0.01, 5.0, 5.0, 0.01, 2.0, 5.0, 0.01, 5.0, 5.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0]
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penalty_feet_ori:
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weight: -5.0
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feet_phase:
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weight: 6.0
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params:
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tracking_sigma: 0.008
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alive:
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weight: 12.0

‎src/unilab/conf/ppo/task/g1_motion_tracking/motrix.yaml‎

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# @package _global_
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defaults:
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- /task/g1_motion_tracking/mujoco
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- _self_
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training:
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task_name: G1MotionTracking
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sim_backend: motrix
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play_env_num: 16
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reward:
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motion_global_root_pos:
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weight: 1.0
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action_rate_l2:
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weight: -0.05
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undesired_contacts:
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func: unilab.tasks.motion_tracking.common.manager_terms.undesired_body_contacts
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weight: -0.1
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params:
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command_name: motion
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threshold: 0.05
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body_names:
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- pelvis
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- left_hip_roll_link
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- left_knee_link
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- right_hip_roll_link
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- right_knee_link
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- torso_link
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- left_shoulder_roll_link
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- left_elbow_link
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- right_shoulder_roll_link
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- right_elbow_link
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play_profile:
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enabled: true
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env:
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render_spacing: 2.5

‎src/unilab/conf/ppo/task/g1_walk_flat/motrix.yaml‎

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# @package _global_
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# Motrix owner: inherits the shared 29-DoF flat Manager-Based contract from
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# base.yaml, then overrides contract fields for Motrix-specific tuning
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# (intentionally non-transferable from MuJoCo; drop overrides to restore parity).
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defaults:
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- /task/g1_walk_flat/base
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- _self_
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training:
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task_name: G1WalkFlat
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sim_backend: motrix
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algo:
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num_envs: 2048
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max_iterations: 2200
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obs_groups:
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actor:
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- policy
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critic:
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- critic
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actor:
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obs_normalization: true
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distribution_cfg:
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init_std: 0.5
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critic:
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obs_normalization: true
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algorithm:
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learning_rate: 3.0e-4
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entropy_coef: 5.0e-3
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env:
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actions:
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joint_pos:
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scale: 0.5
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commands:
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twist:
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ranges:
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lin_vel_x: [0.4, 0.7]
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lin_vel_y: [0.0, 0.0]
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ang_vel_z: [0.0, 0.0]
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events:
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# Legacy Motrix owners disable kp/kd randomization.
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pd_gains: null
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reset_root_state_uniform:
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params:
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velocity_range:
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x: [-0.05, 0.05]
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y: [-0.05, 0.05]
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z: [-0.05, 0.05]
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roll: [-0.05, 0.05]
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pitch: [-0.05, 0.05]
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yaw: [-0.05, 0.05]
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terminations:
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tilt:
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params:
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max_tilt_deg: 35.0
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base_height:
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params:
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minimum_height: 0.5
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reward:
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tracking_ang_vel:
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weight: 0.25
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forward_progress:
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func: unilab.tasks.locomotion.g1.manager_terms.forward_progress
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weight: 0.0
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params:
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command_name: twist
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under_speed:
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func: unilab.tasks.locomotion.g1.manager_terms.under_speed
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weight: -0.2
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params:
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command_name: twist
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upper_body_pose:
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func: unilab.tasks.locomotion.g1.manager_terms.upper_body_pose
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weight: -0.05
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params:
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pose_weights: [0.01, 1.0, 5.0, 0.01, 5.0, 5.0, 0.01, 1.0, 5.0, 0.01, 5.0, 5.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0]
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penalty_feet_ori:
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func: unilab.tasks.locomotion.g1.manager_terms.penalty_feet_ori
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weight: 0.0
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feet_phase:
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weight: 1.2
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params:
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min_forward_speed: 0.05
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feet_phase_contrast:
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func: unilab.tasks.locomotion.g1.manager_terms.feet_phase_contrast
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weight: 1.5
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params:
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frequency: 1.5
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swing_height: 0.09
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tracking_sigma: 0.008
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min_forward_speed: 0.05
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command_name: twist
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feet_phase_contact:
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func: unilab.tasks.locomotion.g1.manager_terms.feet_phase_contact
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weight: 1.0
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params:
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frequency: 1.5
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swing_height: 0.09
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tracking_sigma: 0.008
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min_forward_speed: 0.05
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command_name: twist
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feet_double_stance:
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func: unilab.tasks.locomotion.g1.manager_terms.feet_double_stance
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weight: -1.0
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params:
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frequency: 1.5
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swing_height: 0.09
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tracking_sigma: 0.008
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min_forward_speed: 0.05
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command_name: twist
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ang_vel_xy:
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weight: -0.2
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base_height:
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weight: -120.0
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params:
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target_height: 0.765
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orientation:
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weight: -2.5
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action_rate:
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weight: -0.005
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pose:
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weight: -0.05
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play_profile:
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enabled: true
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env:
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render_spacing: 2.0

‎src/unilab/conf/ppo/task/go2_joystick_flat/motrix.yaml‎

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# @package _global_
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defaults:
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- /task/go2_joystick_flat/base
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- _self_
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training:
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task_name: Go2JoystickFlat
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sim_backend: motrix
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algo:
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num_envs: 1024
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max_iterations: 151
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obs_groups:
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actor:
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- actor
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critic:
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- critic
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actor:
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obs_normalization: true
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distribution_cfg:
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init_std: 0.5
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critic:
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obs_normalization: true
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algorithm:
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learning_rate: 3.0e-4
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entropy_coef: 1.0e-3
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env:
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commands:
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twist:
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ranges:
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lin_vel_x: [0.5, 0.5]
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lin_vel_y: [0.0, 0.0]
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ang_vel_z: [0.0, 0.0]
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events:
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pd_gains: null
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play_profile:
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enabled: true
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env:
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render_spacing: 2.0

‎src/unilab/conf/sac/task/g1_motion_tracking/motrix.yaml‎

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# @package _global_
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# Motrix mirrors the MuJoCo WBT training DR within its supported capability
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# set. Root velocity pushes are unsupported by Motrix and stay disabled.
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defaults:
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- /task/g1_motion_tracking/mujoco
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- _self_
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training:
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task_name: G1MotionTrackingSAC
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sim_backend: motrix
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env:
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events:
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push_robot: null

‎tests/scripts/test_support_matrix.py‎

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@@ -86,7 +86,9 @@ def test_support_matrix_marks_go2_ppo_backends_as_tested():
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assert row.cells["mujoco"].level == EvidenceLevel.TESTED
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assert row.cells["mjwarp"].level == EvidenceLevel.MISSING
89-
assert row.cells["motrix"].level is EvidenceLevel.REGISTERED
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# Restoring the pre-shelving owner restores its prior generated grade:
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# generic config coverage promotes configured Motrix owners to Tested.
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assert row.cells["motrix"].level is EvidenceLevel.TESTED
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appo_row = _row("APPO (torch)", "go2_joystick_flat")
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assert appo_row.cells["motrix"].level is EvidenceLevel.TESTED
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