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fix:test bench _env_step.fixed wbt_motrix iter and tested npz - #246
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TATP-233
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May 4, 2026
fix:test bench _env_step.fixed wbt_motrix iter and tested npz
TATP-233
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May 30, 2026
fix:test bench _env_step.fixed wbt_motrix iter and tested npz
TATP-233
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that referenced
this pull request
Sep 4, 2026
fix:test bench _env_step.fixed wbt_motrix iter and tested npz
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Summary
Add g1_motion_tracking (g1_mt) task to benchmark_env_step.py benchmark matrix, including label recognition and comparison table column fix
Add env.iterations: 3 to conf/ppo/task/g1_motion_tracking/motrix.yaml to fix motrix backend simulation stepping
Add sprint1_subject4_from_csv.npz motion data asset for G1 motion-tracking task
Linked Work
Linked Work
Issue: N/A
Milestone: G1 motion-tracking motrix support
Validation
make check
uv run pytest -m "not slow"
Additional task-specific validation listed below
Commands actually run:
benchmark single task
uv run python benchmark/benchmark_env_step.py task=g1_motion_tracking/motrix
benchmark full matrix
uv run python benchmark/benchmark_env_step.py
Impact
Backend impact: motrix (config fix); benchmark touches both
Platform impact: Linux
Training effect expected: yes — env.iterations: 3 changes physics sub-stepping for motrix motion-tracking
Artifacts
W&B: N/A
benchmark result: N/A (run commands above to produce)
video / screenshot: N/A
ONNX / checkpoint: N/A
Checklist
Added or updated tests where needed (benchmark coverage for g1_mt)