fix(config): restore current-task Motrix owners

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

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

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

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

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

@@ -0,0 +1,8 @@
+# @package _global_
+defaults:
+  - /task/g1_motion_tracking/mujoco
+  - _self_
+
+training:
+  task_name: G1MotionTracking
+  sim_backend: motrix

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

@@ -0,0 +1,45 @@
+# @package _global_
+# FlashSAC Motrix owner: keeps the MuJoCo owner's FlashSAC algo identity while
+# adopting the Motrix-direction reward retuning; kp/kd randomization disabled.
+defaults:
+  - /task/g1_walk_flat/base
+  - _self_
+
+training:
+  task_name: G1WalkFlat
+  sim_backend: motrix
+algo:
+  num_envs: 4096
+  learning_starts: 49
+  max_iterations: 5000
+  save_interval: 1000
+  updates_per_step: 8
+  replay_buffer_n: 256
+  tau: 0.05
+env:
+  events:
+    # Legacy Motrix owners disable kp/kd randomization.
+    pd_gains: null
+reward:
+  tracking_lin_vel:
+    weight: 2.2
+  tracking_ang_vel:
+    weight: 1.8
+  penalty_ang_vel_xy:
+    weight: -1.2
+  penalty_orientation:
+    weight: -12.0
+  penalty_action_rate:
+    weight: -2.5
+  pose:
+    weight: -0.6
+    params:
+      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]
+  penalty_feet_ori:
+    weight: -5.0
+  feet_phase:
+    weight: 6.0
+    params:
+      tracking_sigma: 0.008
+  alive:
+    weight: 12.0

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

@@ -0,0 +1,37 @@
+# @package _global_
+defaults:
+  - /task/g1_motion_tracking/mujoco
+  - _self_
+
+training:
+  task_name: G1MotionTracking
+  sim_backend: motrix
+  play_env_num: 16
+
+reward:
+  motion_global_root_pos:
+    weight: 1.0
+  action_rate_l2:
+    weight: -0.05
+  undesired_contacts:
+    func: unilab.tasks.motion_tracking.common.manager_terms.undesired_body_contacts
+    weight: -0.1
+    params:
+      command_name: motion
+      threshold: 0.05
+      body_names:
+        - pelvis
+        - left_hip_roll_link
+        - left_knee_link
+        - right_hip_roll_link
+        - right_knee_link
+        - torso_link
+        - left_shoulder_roll_link
+        - left_elbow_link
+        - right_shoulder_roll_link
+        - right_elbow_link
+
+play_profile:
+  enabled: true
+  env:
+    render_spacing: 2.5

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

@@ -0,0 +1,125 @@
+# @package _global_
+# Motrix owner: inherits the shared 29-DoF flat Manager-Based contract from
+# base.yaml, then overrides contract fields for Motrix-specific tuning
+# (intentionally non-transferable from MuJoCo; drop overrides to restore parity).
+defaults:
+  - /task/g1_walk_flat/base
+  - _self_
+
+training:
+  task_name: G1WalkFlat
+  sim_backend: motrix
+algo:
+  num_envs: 2048
+  max_iterations: 2200
+  obs_groups:
+    actor:
+      - policy
+    critic:
+      - critic
+  actor:
+    obs_normalization: true
+    distribution_cfg:
+      init_std: 0.5
+  critic:
+    obs_normalization: true
+  algorithm:
+    learning_rate: 3.0e-4
+    entropy_coef: 5.0e-3
+env:
+  actions:
+    joint_pos:
+      scale: 0.5
+  commands:
+    twist:
+      ranges:
+        lin_vel_x: [0.4, 0.7]
+        lin_vel_y: [0.0, 0.0]
+        ang_vel_z: [0.0, 0.0]
+  events:
+    # Legacy Motrix owners disable kp/kd randomization.
+    pd_gains: null
+    reset_root_state_uniform:
+      params:
+        velocity_range:
+          x: [-0.05, 0.05]
+          y: [-0.05, 0.05]
+          z: [-0.05, 0.05]
+          roll: [-0.05, 0.05]
+          pitch: [-0.05, 0.05]
+          yaw: [-0.05, 0.05]
+  terminations:
+    tilt:
+      params:
+        max_tilt_deg: 35.0
+    base_height:
+      params:
+        minimum_height: 0.5
+reward:
+  tracking_ang_vel:
+    weight: 0.25
+  forward_progress:
+    func: unilab.tasks.locomotion.g1.manager_terms.forward_progress
+    weight: 0.0
+    params:
+      command_name: twist
+  under_speed:
+    func: unilab.tasks.locomotion.g1.manager_terms.under_speed
+    weight: -0.2
+    params:
+      command_name: twist
+  upper_body_pose:
+    func: unilab.tasks.locomotion.g1.manager_terms.upper_body_pose
+    weight: -0.05
+    params:
+      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]
+  penalty_feet_ori:
+    func: unilab.tasks.locomotion.g1.manager_terms.penalty_feet_ori
+    weight: 0.0
+  feet_phase:
+    weight: 1.2
+    params:
+      min_forward_speed: 0.05
+  feet_phase_contrast:
+    func: unilab.tasks.locomotion.g1.manager_terms.feet_phase_contrast
+    weight: 1.5
+    params:
+      frequency: 1.5
+      swing_height: 0.09
+      tracking_sigma: 0.008
+      min_forward_speed: 0.05
+      command_name: twist
+  feet_phase_contact:
+    func: unilab.tasks.locomotion.g1.manager_terms.feet_phase_contact
+    weight: 1.0
+    params:
+      frequency: 1.5
+      swing_height: 0.09
+      tracking_sigma: 0.008
+      min_forward_speed: 0.05
+      command_name: twist
+  feet_double_stance:
+    func: unilab.tasks.locomotion.g1.manager_terms.feet_double_stance
+    weight: -1.0
+    params:
+      frequency: 1.5
+      swing_height: 0.09
+      tracking_sigma: 0.008
+      min_forward_speed: 0.05
+      command_name: twist
+  ang_vel_xy:
+    weight: -0.2
+  base_height:
+    weight: -120.0
+    params:
+      target_height: 0.765
+  orientation:
+    weight: -2.5
+  action_rate:
+    weight: -0.005
+  pose:
+    weight: -0.05
+play_profile:
+  enabled: true
+  env:
+    render_spacing: 2.0

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

@@ -0,0 +1,38 @@
+# @package _global_
+defaults:
+  - /task/go2_joystick_flat/base
+  - _self_
+
+training:
+  task_name: Go2JoystickFlat
+  sim_backend: motrix
+algo:
+  num_envs: 1024
+  max_iterations: 151
+  obs_groups:
+    actor:
+      - actor
+    critic:
+      - critic
+  actor:
+    obs_normalization: true
+    distribution_cfg:
+      init_std: 0.5
+  critic:
+    obs_normalization: true
+  algorithm:
+    learning_rate: 3.0e-4
+    entropy_coef: 1.0e-3
+env:
+  commands:
+    twist:
+      ranges:
+        lin_vel_x: [0.5, 0.5]
+        lin_vel_y: [0.0, 0.0]
+        ang_vel_z: [0.0, 0.0]
+  events:
+    pd_gains: null
+play_profile:
+  enabled: true
+  env:
+    render_spacing: 2.0

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

@@ -0,0 +1,13 @@
+# @package _global_
+# Motrix mirrors the MuJoCo WBT training DR within its supported capability
+# set. Root velocity pushes are unsupported by Motrix and stay disabled.
+defaults:
+  - /task/g1_motion_tracking/mujoco
+  - _self_
+
+training:
+  task_name: G1MotionTrackingSAC
+  sim_backend: motrix
+env:
+  events:
+    push_robot: null

tests/scripts/test_support_matrix.py

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