From 3fd2793f2837bd5819759b4da1c75312c05a6d59 Mon Sep 17 00:00:00 2001
From: 8x54zj-m <8x54zj-m@motrixlab.local>
Date: Tue, 30 Jun 2026 14:56:01 +0800
Subject: [PATCH] fix: register dreamwaq env, disable missing stair envs

---
 .../motrix_envs/locomotion/go1/__init__.py    |  1 +
 motrix_rl/src/motrix_rl/tasks/go1.py          | 62 +++++++------------
 2 files changed, 23 insertions(+), 40 deletions(-)

diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/__init__.py b/motrix_envs/src/motrix_envs/locomotion/go1/__init__.py
index af6103a..6a3b9ba 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/__init__.py
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/__init__.py
@@ -14,3 +14,4 @@
 # ==============================================================================
 
 from . import walk_np, walk_rough_terrain, walk_stairs_terrain  # noqa: F401 register envs
+from . import dreamwaq  # noqa: F401 register DreamWaQ env
diff --git a/motrix_rl/src/motrix_rl/tasks/go1.py b/motrix_rl/src/motrix_rl/tasks/go1.py
index 565cacb..741bbae 100644
--- a/motrix_rl/src/motrix_rl/tasks/go1.py
+++ b/motrix_rl/src/motrix_rl/tasks/go1.py
@@ -62,22 +62,16 @@ class skrl:
             models.policy.hiddens = [512, 256, 128]
             models.value.hiddens = [512, 256, 128]
 
-    @rlcfg("go1-stairs-terrain-walk")
-    @dataclass
-    class Go1WalkStairsPPO(Go1WalkRoughSkrlPpo): ...
+    # @rlcfg("go1-stairs-terrain-walk")  # env file missing, disabled
+    # @dataclass
+    # class Go1WalkStairsPPO(Go1WalkRoughSkrlPpo): ...
 
-    @rlcfg("go1-stairs-terrain-walk-no-linevel")
-    @dataclass
-    class Go1WalkStairsNoLinvelSkrlPpo(Go1WalkRoughSkrlPpo):
-        """Go1 stairs terrain walk (no linear velocity obs) - SKRL PPO config.
-
-        Uses [512, 256, 128] network from rough terrain config.
-        Increased timesteps for 4-phase curriculum.
-        """
-
-        def __post_init__(self):
-            super().__post_init__()
-            self.runner.trainer.timesteps = 60000
+    # @rlcfg("go1-stairs-terrain-walk-no-linevel")  # env file missing, disabled
+    # @dataclass
+    # class Go1WalkStairsNoLinvelSkrlPpo(Go1WalkRoughSkrlPpo):
+    #     def __post_init__(self):
+    #         super().__post_init__()
+    #         self.runner.trainer.timesteps = 60000
 
 
 class rslrl:
@@ -172,29 +166,17 @@ class rslrl:
             self.runner.actor.hidden_dims = [512, 256, 128]
             self.runner.critic.hidden_dims = [512, 256, 128]
 
-    @rlcfg("go1-stairs-terrain-walk")
-    @dataclass
-    class Go1WalkStairsRslrlPpo(Go1WalkRoughRslrlPpo):
-        """Go1 robot walk on stairs terrain - RSLRL PPO configuration.
+    # @rlcfg("go1-stairs-terrain-walk")  # env file missing, disabled
+    # @dataclass
+    # class Go1WalkStairsRslrlPpo(Go1WalkRoughRslrlPpo):
+    #     def __post_init__(self):
+    #         super().__post_init__()
+    #         self.runner.experiment_name = "go1_stairs_terrain_walk"
 
-        Uses same configuration as rough terrain since stairs also require complex handling.
-        """
-
-        def __post_init__(self):
-            super().__post_init__()
-            self.runner.experiment_name = "go1_stairs_terrain_walk"
-
-    @rlcfg("go1-stairs-terrain-walk-no-linevel")
-    @dataclass
-    class Go1WalkStairsNoLinvelRslrlPpo(Go1WalkRoughRslrlPpo):
-        """Go1 stairs terrain walk (no linear velocity obs) - RSLRL PPO config.
-
-        Uses [512, 256, 128] network from rough terrain config.
-        Increased iterations for 4-phase curriculum.
-        """
-
-        def __post_init__(self):
-            super().__post_init__()
-            self.runner.experiment_name = "go1_stairs_terrain_walk_no_linevel"
-            self.runner.max_iterations = 2000
-            self.runner.experiment_name = "go1_stairs_terrain_walk_no_linevel"
+    # @rlcfg("go1-stairs-terrain-walk-no-linevel")  # env file missing, disabled
+    # @dataclass
+    # class Go1WalkStairsNoLinvelRslrlPpo(Go1WalkRoughRslrlPpo):
+    #     def __post_init__(self):
+    #         super().__post_init__()
+    #         self.runner.experiment_name = "go1_stairs_terrain_walk_no_linevel"
+    #         self.runner.max_iterations = 2000