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Add G1 29dof Locomotion task #4268

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Add G1 29dof Locomotion task #4268

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dd9afda
add g1 29dof task
jnskkmhr Dec 20, 2025
75a39ac
finalize g1 29dof locomotion task
jnskkmhr Dec 20, 2025
ef3403e
add G1 23dof and 29dof in docstring
jnskkmhr Dec 20, 2025
668fa96
remove unncessary override in env cfg
jnskkmhr Dec 20, 2025
29a8137
finalize g1 running task
jnskkmhr Dec 21, 2025
6eb0fa0
remove observation in locomotion task mdp
jnskkmhr Dec 21, 2025
cd588e4
add my name to CONTRIBUTORS.md
jnskkmhr Dec 21, 2025
10d051b
resolve warning from PR check
jnskkmhr Dec 21, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -166,6 +166,7 @@ Guidelines for modifications:
* David Leon
* Song Yi
* Weihua Zhang
* Junnosuke Kamohara

## Acknowledgements

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2 changes: 2 additions & 0 deletions scripts/reinforcement_learning/rsl_rl/play.py
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Expand Up @@ -19,6 +19,7 @@
parser = argparse.ArgumentParser(description="Train an RL agent with RSL-RL.")
parser.add_argument("--video", action="store_true", default=False, help="Record videos during training.")
parser.add_argument("--video_length", type=int, default=200, help="Length of the recorded video (in steps).")
parser.add_argument("--video_speed", type=float, default=1.0, help="Speed of the recorded video.")
parser.add_argument(
"--disable_fabric", action="store_true", default=False, help="Disable fabric and use USD I/O operations."
)
Expand Down Expand Up @@ -117,6 +118,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen

# create isaac environment
env = gym.make(args_cli.task, cfg=env_cfg, render_mode="rgb_array" if args_cli.video else None)
env.metadata["render_fps"] = int((1/env.unwrapped.step_dt) * args_cli.video_speed) # type: ignore

# convert to single-agent instance if required by the RL algorithm
if isinstance(env.unwrapped, DirectMARLEnv):
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