Feat/g1 23dof#691

Merged

TATP-233 merged 13 commits into

unilabsim:mainfrom

Kennyp-Chen:feat/g1-23dof

Jul 19, 2026

Commits on Jul 13, 2026

chore: add G1 rubber hand STL assets
Kennyp-Chen
committed
feat(g1): add 23-DoF configs, assets, motion data, and env code
Kennyp-Chen
committed
fix(g1/23dof): align training params with 29-DoF tuned version
Kennyp-Chen
committed
fix(g1/23dof): fix WBT obs motion file ref and missing STL assets
Kennyp-Chen
committed
docs: update support matrix with G1 23-DoF task entries
Kennyp-Chen
committed
style: ruff format fix for flip_tracking.py line length
Kennyp-Chen
committed
test(g1/23dof): filter 23-DoF motion files from 29-DoF tests, skip abort-prone Jacobian test

Kennyp-Chen
and
sisyphus-dev-ai
committed
fix(g1/23dof/motrix): resolve box_tracking broadcast crash for motrix backend
Kennyp-Chen
committed
chore: hide internal planning doc, add FlashSAC motrix config
Kennyp-Chen
committed
chore: regenerate support matrix, clean up gitignore
Kennyp-Chen
committed
chore(g1/23dof): host AMP motions on HF, keep npz out of git

LeeLeno
and
claude
committed
chore: add 29-to-23-DoF motion conversion utility script
Kennyp-Chen
committed
style: ruff format for convert_motion_29dof_to_23dof.py
LeeLeno
committed