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refactor: extract shared LocomotionDRProvider base class (#184) - #186
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Introduce LocomotionDRProvider in common/dr_provider.py with shared validate, build_interval_randomization_plan, _sample_commands, and template methods for build_reset_plan/build_reset_observation. G1/Go1/Go2 providers now inherit from the base class and only override robot-specific hooks (_get_qvel_limit, _build_extra_info_updates, _compute_reset_obs), eliminating ~150 lines of duplicated DR code.
TATP-233
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…vider refactor: extract shared LocomotionDRProvider base class (#184)
TATP-233
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May 30, 2026
…vider refactor: extract shared LocomotionDRProvider base class (#184)
TATP-233
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Sep 4, 2026
…vider refactor: extract shared LocomotionDRProvider base class (#184)
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Summary
LocomotionDRProviderbase class incommon/dr_provider.pyvalidate(),build_interval_randomization_plan(),_sample_commands(),build_reset_plan()template,build_reset_observation()template_get_qvel_limit(),_build_extra_info_updates(),_compute_reset_obs()Test plan
make check(ruff format + ruff check + mypy + pyright) — all passmake test— 329 passed, 12 skippedCloses #184
Depends on #183 (
feat/extract-locomotion-rewards)