fix: remove g1 deploy motrix owner - #615
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Pull request overview
This PR removes the unvalidated Motrix PPO owner config for g1_motion_tracking_deploy and updates the docs to reflect that the owner is no longer considered configured/tested on Motrix, aligning with the intended “MuJoCo-only owner YAML” status for sim2sim contract pairing.
Changes:
- Deleted
conf/ppo/task/g1_motion_tracking_deploy/motrix.yamlsog1_motion_tracking_deploy/motrixno longer composes via Hydra. - Updated CN/EN support matrix docs to downgrade Motrix for
g1_motion_tracking_deployfromTested/ConfiguredtoRegistered. - Updated the sim2sim contract status doc to mark
g1_motion_tracking_deployas having no mujoco↔motrix owner pairing (⚪).
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md | Downgrades Motrix evidence grade for g1_motion_tracking_deploy to Registered. |
| docs/sphinx/source/zh_CN/4-developer_guide/9-sim2sim_contract_status.md | Marks g1_motion_tracking_deploy as ⚪ (only MuJoCo owner config present). |
| docs/sphinx/source/en/5-reference/5-support_matrix.md | Mirrors the CN support matrix update for g1_motion_tracking_deploy. |
| conf/ppo/task/g1_motion_tracking_deploy/motrix.yaml | Removes the Motrix PPO owner YAML entirely. |
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TATP-233
approved these changes
Jun 17, 2026
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Summary
g1_motion_tracking_deploy/motrixPPO owner configg1_motion_tracking_deployas MuJoCo-onlyFixes #614
Validation
uv run pytest tests/config/test_locomotion_params.py::test_ppo_g1_motion_tracking_deploy tests/scripts/test_support_matrix.pyuv run scripts/generate_support_matrix.pyuv run scripts/audit_sim2sim_contracts.py --jsong1_motion_tracking_deploy/mujococomposes;g1_motion_tracking_deploy/motrixraisesMissingConfigExceptionmake test-all