Feat/g1 23dof

.gitignore

@@ -73,6 +73,8 @@ docs/superpowers/
 # Motion assets (downloaded from HF at runtime)
 src/unilab/assets/motions/g1/*.npz
 src/unilab/assets/motions/g1/*.csv
+src/unilab/assets/motions/g1/**/*.npz
+src/unilab/assets/motions/g1/**/*.csv
 src/unilab/assets/motions/g1/flip
 src/unilab/assets/motions/g1/flip_npz
 src/unilab/assets/motions/x2/*.npz
@@ -101,3 +103,17 @@ src/unilab/assets/checkpoints/**/*.onnx
 
 # Backend temp XML emitted next to robot.xml (motrix/mujoco scene materialization)
 src/unilab/assets/robots/**/tmp*.xml
+
+# Training artifacts (curves, videos, screenshots)
+val/
+
+# Agent working directory (not committed)
+.sisyphus/
+
+# Internal planning docs (not for upstream)
+G1_23DOF_INIT.md
+G1_23DOF_PR_CHECKLIST.md
+APPO_HARDWARE_TIMING_ANALYSIS.md
+
+# Training log artifacts (checkpoints, ONNX exports)
+log/

conf/appo/task/g1_23dof_climb_tracking/motrix.yaml

@@ -0,0 +1,65 @@
+# @package _global_
+training:
+  task_name: G1ClimbTracking23Dof
+  sim_backend: motrix
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 20000
+  save_interval: 500
+env:
+  sampling_mode: adaptive
+  truncate_on_clip_end: false
+  sim_dt: 0.005
+  control_config:
+    action_scale:
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.5475464629911068
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+  anchor_pos_z_threshold: 0.3
+  ee_body_pos_z_threshold: 0.3
+  terminate_on_undesired_contacts: true
+  noise_config:
+    level: 0.0
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 2.0
+    motion_body_ori: 1.5
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_ee_body_pos_z: 2.0
+    motion_joint_pos: 0.5
+    motion_joint_vel: 0.25
+    action_rate_l2: -0.005
+    joint_limit: -10.0
+    undesired_contacts: -0.1
+  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

conf/appo/task/g1_23dof_climb_tracking/mujoco.yaml

@@ -0,0 +1,65 @@
+# @package _global_
+training:
+  task_name: G1ClimbTracking23Dof
+  sim_backend: mujoco
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 20000
+  save_interval: 500
+env:
+  sampling_mode: adaptive
+  truncate_on_clip_end: false
+  sim_dt: 0.005
+  control_config:
+    action_scale:
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.5475464629911068
+    - 0.35066146637882434
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.5475464629911068
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+    - 0.43857731392336724
+  anchor_pos_z_threshold: 0.3
+  ee_body_pos_z_threshold: 0.3
+  terminate_on_undesired_contacts: true
+  noise_config:
+    level: 0.0
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 2.0
+    motion_body_ori: 1.5
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_ee_body_pos_z: 2.0
+    motion_joint_pos: 0.5
+    motion_joint_vel: 0.25
+    action_rate_l2: -0.005
+    joint_limit: -10.0
+    undesired_contacts: -0.1
+  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

conf/appo/task/g1_23dof_flip_tracking/motrix.yaml

@@ -0,0 +1,86 @@
+# @package _global_
+training:
+  task_name: G1FlipTracking23Dof
+  sim_backend: motrix
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  steps_per_env: 24
+  max_iterations: 3500
+  save_interval: 500
+  algorithm:
+    num_learning_epochs: 10
+    num_mini_batches: 8
+    clip_param: 0.2
+    gamma: 0.99
+    lam: 0.95
+    value_loss_coef: 1.0
+    entropy_coef: 0.005
+    learning_rate: 1.0e-3
+    max_grad_norm: 1.0
+    use_clipped_value_loss: true
+    schedule: adaptive
+    desired_kl: 0.01
+    adaptive_kl_factor: 2.0
+    adaptive_lr_factor: 1.5
+    optimizer: adam
+    tau: 1.0
+    target_update_freq: 1
+    vtrace_clip_rho: 1.0
+    vtrace_clip_c: 1.0
+    enable_compile: true
+env:
+  sampling_mode: start
+  truncate_on_clip_end: true
+  sim_dt: 0.005
+  control_config:
+    action_scale:
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.5475464629911068
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+  anchor_pos_z_threshold: 0.5
+  ee_body_pos_z_threshold: 0.5
+  terminate_on_undesired_contacts: true
+  noise_config:
+    level: 0.0
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 2.0
+    motion_body_ori: 1.5
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_ee_body_pos_z: 2.0
+    motion_joint_pos: 0.0
+    motion_joint_vel: 0.0
+    action_rate_l2: -0.005
+    joint_limit: -10.0
+  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

conf/appo/task/g1_23dof_flip_tracking/mujoco.yaml

@@ -0,0 +1,70 @@
+# @package _global_
+training:
+  task_name: G1FlipTracking23Dof
+  sim_backend: mujoco
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  steps_per_env: 24
+  max_iterations: 3500
+  save_interval: 500
+  algorithm:
+    entropy_coef: 0.005
+    num_learning_epochs: 10
+    num_mini_batches: 8
+    desired_kl: 0.01
+env:
+  sampling_mode: start
+  truncate_on_clip_end: true
+  sim_dt: 0.005
+  control_config:
+    action_scale:
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.5475464629911068
+      - 0.35066146637882434
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.5475464629911068
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+      - 0.43857731392336724
+  anchor_pos_z_threshold: 0.5
+  ee_body_pos_z_threshold: 0.5
+  terminate_on_undesired_contacts: true
+  noise_config:
+    level: 0.0
+reward:
+  scales:
+    motion_global_root_pos: 0.5
+    motion_global_root_ori: 0.5
+    motion_body_pos: 2.0
+    motion_body_ori: 1.5
+    motion_body_lin_vel: 1.0
+    motion_body_ang_vel: 1.0
+    motion_ee_body_pos_z: 2.0
+    motion_joint_pos: 0.0
+    motion_joint_vel: 0.0
+    action_rate_l2: -0.005
+    joint_limit: -10.0
+  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

conf/appo/task/g1_23dof_motion_tracking/motrix.yaml

@@ -0,0 +1,29 @@
+# @package _global_
+training:
+  task_name: G1MotionTracking23Dof
+  sim_backend: motrix
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 5000
+  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
+  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

conf/appo/task/g1_23dof_motion_tracking/mujoco.yaml

@@ -0,0 +1,32 @@
+# @package _global_
+training:
+  task_name: G1MotionTracking23Dof
+  sim_backend: mujoco
+  play_steps: 1000
+algo:
+  num_envs: 1024
+  max_iterations: 5000
+  save_interval: 500
+  algorithm:
+    adaptive_kl_factor: 2.0
+    adaptive_lr_factor: 1.5
+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
+  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