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Feature/motion imitation - #49
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- Introduced multiple STL files for various body parts including right hand, hip, knee, shoulder, and torso links. - Created a new Mujoco XML model file (g1.xml) defining the robot's structure, joints, and actuators. - Added a scene configuration file (scene_flat.xml) for visual representation and keyframe setup. - Implemented a task registry in task_registry.py to manage different tasks and their configurations.
- Added a new motion file `dance1_subject2_part.npz` for G1 motion tracking. - Updated `locomotion_params.py` to reduce `max_iterations` from 30000 to 10000 for the G1MotionTracking environment. - Modified `tracking.py` to use the new motion file instead of the previous `gangnam_style.npz`. - Increased `max_episode_seconds` from 10.0 to 20.0 to allow for longer episodes in the G1 motion tracking environment.
…scale diagnostics
…ptional checkpoint parameter
…ation functions in MLX models
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