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fix(config): restore current-task Motrix owners - #2081

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TATP-233 merged 1 commit into
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fix/issue-2080-restore-current-task-motrix-owners
Oct 8, 2026
Merged

TATP-233 merged 1 commit into
mainfrom
fix/issue-2080-restore-current-task-motrix-owners

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@TATP-233 TATP-233 commented Oct 8, 2026

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Driving issue

Closes #2080

Delivered behavior

Restores six Motrix owner YAML files that were accidentally removed with the retired/shelved owner cleanup in 402aed69, but whose task identities remain active in main:

  • APPO g1_motion_tracking
  • FlashSAC g1_walk_flat
  • PPO g1_motion_tracking
  • PPO g1_walk_flat
  • PPO go2_joystick_flat
  • SAC g1_motion_tracking

Each restored file was compared byte-for-byte against 402aed69^; all six are exact historical copies. The already-restored/rewritten canonical owners (appo/go2_joystick_flat, flashsac/g1_motion_tracking, sac/g1_walk_flat) are unchanged.

The generated bilingual support matrix sections were refreshed, and the Go2 PPO Motrix grade assertion was restored to its historical generated semantics (Registered → Tested).

Scope / impact

  • Motrix only; no MuJoCo owner values or training implementation changes.
  • No retired task or task identity is reintroduced.
  • No new public contract, backend capability, or production support claim is added.
  • Does not affect macOS/Linux platform behavior beyond restoring the owner configs.
  • Does not alter the three independently restored canonical Motrix owners.

Validation on final head (c23f576e)

make check
# Passed:
# - ruff format/check
# - mypy src/unilab: no issues
# - pyright: 0 errors
# - focused ruff test checks

make test-all
# Passed:
# - make check
# - pytest -m "not slow" --cov: 1843 passed, 22 skipped, 489 deselected
# - benchmark smoke: module-mode 34/34; script-mode 35/35

Focused checks also passed before commit:

uv run pytest tests/config tests/scripts/test_support_matrix.py --deselect tests/config/test_locomotion_params.py::test_ppo_g1_motion_tracking -q -m 'slow or not slow'
# 77 passed, 1 deselected

uv run pytest tests/tasks/test_go2_tensor_runtime.py tests/algos/test_appo_runner.py tests/scripts/test_train_script_configs.py tests/tasks/test_motion_term_parity.py tests/scripts/test_g1_flashsac_backend.py -q -m 'slow or not slow'
# 98 passed, 2 skipped

Known unrelated issue

tests/config/test_locomotion_params.py::test_ppo_g1_motion_tracking fails on main before this change (interactive.action_mode == "zero", expected "policy"). It is caused by X2 assertions being collapsed into the G1 test in da1d75f2, not by restoring these owners. This PR intentionally does not piggyback that unrelated fix.

@TATP-233
TATP-233 merged commit a822a8f into main Oct 8, 2026
8 checks passed
@TATP-233
TATP-233 deleted the fix/issue-2080-restore-current-task-motrix-owners branch October 8, 2026 12:19
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fix(config): restore Motrix owners for current tasks

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