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refactor: extract LocomotionBaseEnv — eliminate G1/Go1/Go2 code duplication - #181
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Closes #133 - Create `locomotion/common/` module with shared base class, configs, and utilities - `LocomotionBaseEnv` consolidates 7 identical methods from 3 robot base envs - `LocomotionBaseCfg` + `ControlConfigBase` provide shared config inheritance - `DomainRandConfig` replaces `Domain_Rand` (PascalCase naming) - `Commands` + `sample_velocity_commands` extracted to common module - Line count reductions: G1 52%, Go1 62%, Go2 50% - Fix pre-existing mypy type-arg error in xml_utils.py
TATP-233
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May 4, 2026
refactor: extract LocomotionBaseEnv — eliminate G1/Go1/Go2 code duplication
TATP-233
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May 30, 2026
refactor: extract LocomotionBaseEnv — eliminate G1/Go1/Go2 code duplication
TATP-233
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Sep 4, 2026
refactor: extract LocomotionBaseEnv — eliminate G1/Go1/Go2 code duplication
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Summary
Closes #133
LocomotionBaseEnvbase class intolocomotion/common/module, consolidating 7 identical methods from G1/Go1/Go2 base environmentsLocomotionBaseCfg,ControlConfigBase,Sensor,Commands,DomainRandConfigDomain_Rand→DomainRandConfig(PascalCase)sample_velocity_commands()to common moduleTest plan
make checkpasses (ruff format + ruff check + mypy + pyright)make testpasses (329 tests, 0 failures)uv run python scripts/train_rsl_rl.py task=go1_joystick algo.max_iterations=3uv run python scripts/train_rsl_rl.py task=g1_joystick algo.max_iterations=3