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[sim2 4/4] G1 and Go2 tasks with recorded scene interventions - #4729

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Nabla7 wants to merge 37 commits into
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Nabla7 wants to merge 37 commits into
pim/refactor/sim2-go2from
pim/refactor/sim2-consumers

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@Nabla7 Nabla7 commented Oct 20, 2026 •

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After #4727, add G1/Go2 reach, replan and relocated-object tasks with recorded scene interventions and separate grader truth; 28 focused tests pass; native tasks not rerun.

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Nabla7 added this pull request to stack #4731 October 20, 2026 18:51
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Nabla7 removed this pull request from stack #4731 October 22, 2026 06:57
@Nabla7 Nabla7 changed the title [sim2 6/6] Migrate eval and procedural scene consumers; remove old MuJoCo engines [sim2 4/4] G1 and Go2 tasks with recorded scene interventions Oct 22, 2026
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Nabla7 changed the base branch from pim/refactor/sim2-mid360 to pim/refactor/sim2-go2 October 22, 2026 06:57
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Nabla7 added this pull request to stack #4765 October 22, 2026 06:57

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