[wlgys8]

Summary

• Add the RSLRL PPO Go2 flat walking deployment artifact and use it in the default simulation recipe.
• Fix gait-phase accumulation and reset behavior, with training parity regression coverage.
• Start Go2 flat simulation crouched: R requests stand-up, measured readiness gates P policy takeover, and O requests 10 seconds of damping before shutdown.
• Keep task-specific execution options and operator bindings in the task plugin rather than Go2-specific CLI branches.
• Initialize from the scene robot init_key_pose while preserving the artifact default joint reference across MuJoCo and native MotrixSim.

Validation

• Deployment regression suite: 561 tests passed.
• Repository pre-commit hooks passed.
• MuJoCo and native MotrixSim headless simulation smoke tests passed.

Scope

• Hardware startup and remote-button behavior are unchanged.
• Headless simulation automatically triggers preparation and policy takeover for testing.

[Copilot]

🔵 Needs a closer look

It is a broad, safety-relevant refactor of deployment/hardware runtime contracts, config schemas, and a new control lifecycle spanning many packages, which warrants human review despite only documentation-staleness issues being found.

2 open findings

• Remove obsolete top-level command setting · New
• 删除已废弃的顶层 command 设置 · New

What changed in this PR

This PR adds the RSLRL PPO Go2 flat-walking deployment artifact and makes it the default simulation recipe, fixes gait-phase accumulation/reset to match training, and introduces a simulation-only "gated" standing lifecycle (crouch spawn → R stand-up → measured-readiness gate → P policy takeover → O damping-before-shutdown). It also refactors the Unitree hardware backend from a single UnitreeGo2BackendConfig into a shared UnitreeBackendConfig + robot-specific UnitreeGo2RobotCfg, replaces the KeyboardDeviceProvider/GamePadDeviceProvider protocols with runtime keyboard/gamepad properties, moves command-source assembly into a task-owned prepare() hook, and drops the duplicated period_s from task specs in favor of control.period_s.

Changes:

• Task-owned prepare()/operator_hint/command_bounds contract replaces CLI command-source branching; new Go2 preparation/damping state machine.
• Typed Hydra runtime schemas (SimRuntimeCfg, HardwareRuntimeCfg/UnitreeBackendConfig) replace untyped runtime mappings and the command/kind fields.
• New Go2 flat deployment artifact, crouch-spawn sim recipe, and init-pose-vs-artifact-default handling across MuJoCo and native MotrixSim.

File	Description
motrix_deploy_tasks/​.../​go2_walk.py	Gait-phase accumulation fix + gated preparation/damping lifecycle and prepare() command assembly
motrix_deploy/​src/​.../​task.py	Adds prepare/command_bounds/operator_hint; default_duration_s gains control_period_s
motrix_deploy/​src/​.../​cli.py	Switches to typed runtime, device selection, and task prepare() session assembly
motrix_deploy/​src/​.../​config/​__init__.py	New SimRuntimeCfg/HardwareRuntimeCfg schemas + ConfigStore install
motrix_deploy/​src/​.../​runtime/​{config,base,hardware,factory}.py	Mutable SensorBindings, keyboard/gamepad runtime properties
motrix_deploy/​src/​.../​robot/​interface.py	Removes device-provider protocols; adds get_gamepad_device
motrix_deploy_unitree/​.../​config.py, interface.py, plugin.py, direct.py	Split transport vs robot config; rename to UnitreeBackendConfig/UnitreeGo2Robot; schema plugin
motrix_deploy_mujoco/​, motrix_deploy_motrixsim/​ runtime	initial_joint_position clipping, keyboard property, default vs init pose
motrix_deploy_tasks/​.../​config/​task/​*.yaml	Crouch sim recipe, typed hardware recipe, removed command sections
g1_wbt.py, manifests	Drop period_s; add Go2 flat artifact manifest
docs (en/​zh) + READMEs + wiki	Tutorial/runtime updates for typed runtime and unitree backend
Tests across packages	Extensive coverage of gating, gait parity, typed config, Unitree refactor

Notable issue: both tutorials still list command as a top-level setting even though this PR removes it from deploy.yaml/DeployRunConfig and now rejects unknown top-level keys (EN line 47, ZH line 45); the later command.velocity=... override examples are also now invalid.

🧠 Review effort: Balanced

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[Copilot]

🔵 Needs a closer look

The change spans hardware-deployment lifecycle, device APIs, Hydra schema registration, and a new safety-relevant startup state machine, which warrants final human review despite being internally consistent and well-tested.

1 open finding

• Rename collides with existing UnitreeGo2Robot config class · New

2 resolved since last review

• 删除已废弃的顶层 command 设置
• Remove obsolete top-level command setting

🧠 Review effort: Balanced