feat: add g1 box tracking task owners

conf/appo/task/g1_box_tracking/motrix.yaml

@@ -0,0 +1,34 @@
+# @package _global_
+training:
+  task_name: G1BoxTracking
+  sim_backend: motrix
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 30000
+  save_interval: 500
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 1.0
+    motion_body_ori: 1.0
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_joint_pos: 0.0
+    motion_joint_vel: 0.0
+    action_rate_l2: -0.1
+    joint_limit: -10.0
+    undesired_contacts: -0.1
+    object_global_ref_position_error_exp: 2.0
+    object_global_ref_orientation_error_exp: 2.0
+  std_root_pos: 0.3
+  std_root_ori: 0.4
+  std_body_pos: 0.3
+  std_body_ori: 0.4
+  std_body_lin_vel: 1.0
+  std_body_ang_vel: 3.14
+  std_joint_pos: 0.2
+  std_joint_vel: 1.0
+  std_object_pos: 0.2
+  std_object_ori: 0.3

conf/appo/task/g1_box_tracking/mujoco.yaml

@@ -0,0 +1,34 @@
+# @package _global_
+training:
+  task_name: G1BoxTracking
+  sim_backend: mujoco
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 30000
+  save_interval: 500
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 1.0
+    motion_body_ori: 1.0
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_joint_pos: 0.0
+    motion_joint_vel: 0.0
+    action_rate_l2: -0.1
+    joint_limit: -10.0
+    undesired_contacts: -0.1
+    object_global_ref_position_error_exp: 2.0
+    object_global_ref_orientation_error_exp: 2.0
+  std_root_pos: 0.3
+  std_root_ori: 0.4
+  std_body_pos: 0.3
+  std_body_ori: 0.4
+  std_body_lin_vel: 1.0
+  std_body_ang_vel: 3.14
+  std_joint_pos: 0.2
+  std_joint_vel: 1.0
+  std_object_pos: 0.2
+  std_object_ori: 0.3

conf/ppo/task/g1_box_tracking/motrix.yaml

@@ -0,0 +1,39 @@
+# @package _global_
+training:
+  task_name: G1BoxTracking
+  sim_backend: motrix
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 30000
+  save_interval: 500
+  obs_groups:
+    actor:
+      - actor
+  algorithm:
+    entropy_coef: 0.005
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 1.0
+    motion_body_ori: 1.0
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_joint_pos: 0.0
+    motion_joint_vel: 0.0
+    action_rate_l2: -0.1
+    joint_limit: -10.0
+    undesired_contacts: -0.1
+    object_global_ref_position_error_exp: 2.0
+    object_global_ref_orientation_error_exp: 2.0
+  std_root_pos: 0.3
+  std_root_ori: 0.4
+  std_body_pos: 0.3
+  std_body_ori: 0.4
+  std_body_lin_vel: 1.0
+  std_body_ang_vel: 3.14
+  std_joint_pos: 0.2
+  std_joint_vel: 1.0
+  std_object_pos: 0.2
+  std_object_ori: 0.3

conf/ppo/task/g1_box_tracking/mujoco.yaml

@@ -0,0 +1,39 @@
+# @package _global_
+training:
+  task_name: G1BoxTracking
+  sim_backend: mujoco
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 30000
+  save_interval: 500
+  obs_groups:
+    actor:
+      - actor
+  algorithm:
+    entropy_coef: 0.005
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 1.0
+    motion_body_ori: 1.0
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_joint_pos: 0.0
+    motion_joint_vel: 0.0
+    action_rate_l2: -0.1
+    joint_limit: -10.0
+    undesired_contacts: -0.1
+    object_global_ref_position_error_exp: 2.0
+    object_global_ref_orientation_error_exp: 2.0
+  std_root_pos: 0.3
+  std_root_ori: 0.4
+  std_body_pos: 0.3
+  std_body_ori: 0.4
+  std_body_lin_vel: 1.0
+  std_body_ang_vel: 3.14
+  std_joint_pos: 0.2
+  std_joint_vel: 1.0
+  std_object_pos: 0.2
+  std_object_ori: 0.3

docs/users/zh_CN/02-simulation-backends.md

@@ -54,6 +54,7 @@ uv run scripts/generate_support_matrix.py --write
 | PPO (torch) | `sharpa_inhand` (Sharpa in-hand) | Tested | Tested |
 | PPO (torch) | `sharpa_inhand_grasp` (Sharpa in-hand grasp) | Tested | Tested |
 | PPO (torch) | `allegro_inhand_grasp` (allegro inhand grasp) | Tested | Tested |
+| PPO (torch) | `g1_box_tracking` (g1 box tracking) | Tested | Tested |
 | PPO (torch) | `g1_climb_tracking` (g1 climb tracking) | Tested | Tested |
 | PPO (torch) | `g1_motion_tracking_deploy` (g1 motion tracking deploy) | Tested | Tested |
 | PPO (torch) | `go1_joystick_rough` (go1 joystick rough) | Tested | Tested |
@@ -72,6 +73,7 @@ uv run scripts/generate_support_matrix.py --write
 | PPO (mlx) | `sharpa_inhand` (Sharpa in-hand) | Configured | Configured |
 | PPO (mlx) | `sharpa_inhand_grasp` (Sharpa in-hand grasp) | Configured | Configured |
 | PPO (mlx) | `allegro_inhand_grasp` (allegro inhand grasp) | Configured | Configured |
+| PPO (mlx) | `g1_box_tracking` (g1 box tracking) | Configured | Configured |
 | PPO (mlx) | `g1_climb_tracking` (g1 climb tracking) | Configured | Configured |
 | PPO (mlx) | `g1_motion_tracking_deploy` (g1 motion tracking deploy) | Configured | Configured |
 | PPO (mlx) | `go1_joystick_rough` (go1 joystick rough) | Configured | Configured |
@@ -87,6 +89,7 @@ uv run scripts/generate_support_matrix.py --write
 | APPO (torch) | `g1_wall_flip_tracking` (G1 wall flip tracking) | Tested | Tested |
 | APPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | Tested |
 | APPO (torch) | `sharpa_inhand` (Sharpa in-hand) | Tested | Registered |
+| APPO (torch) | `g1_box_tracking` (g1 box tracking) | Tested | Tested |
 | APPO (torch) | `g1_climb_tracking` (g1 climb tracking) | Tested | Tested |
 | SAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested |
 | SAC (torch) | `g1_walk_rough` (G1 walk rough) | Tested | Tested |