Widen base angular velocity range and update G1 run curriculum

Increase base ang_vel_z from (-0.5, 0.5) to (-1.0, 1.0). Ramp the
G1 run curriculum stages to (-1.5, 1.5) and (-2.0, 2.0).

Author: kevinzakka

src/mjlab/tasks/velocity/config/g1/env_cfgs.py

@@ -220,9 +220,9 @@ def unitree_g1_flat_run_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
     params={
       "command_name": "twist",
       "velocity_stages": [
-        {"step": 0, "lin_vel_x": (-1.0, 1.0), "ang_vel_z": (-0.5, 0.5)},
-        {"step": 5000 * 24, "lin_vel_x": (-1.5, 2.0), "ang_vel_z": (-0.7, 0.7)},
-        {"step": 10000 * 24, "lin_vel_x": (-2.0, 3.0)},
+        {"step": 0, "lin_vel_x": (-1.0, 1.0)},
+        {"step": 5000 * 24, "lin_vel_x": (-1.5, 2.0), "ang_vel_z": (-1.5, 1.5)},
+        {"step": 10000 * 24, "lin_vel_x": (-2.0, 3.0), "ang_vel_z": (-2.0, 2.0)},
       ],
     },
   )
@@ -231,6 +231,6 @@ def unitree_g1_flat_run_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
     twist_cmd = cfg.commands["twist"]
     assert isinstance(twist_cmd, UniformVelocityCommandCfg)
     twist_cmd.ranges.lin_vel_x = (-2.0, 3.0)
-    twist_cmd.ranges.ang_vel_z = (-0.7, 0.7)
+    twist_cmd.ranges.ang_vel_z = (-2.0, 2.0)
 
   return cfg

src/mjlab/tasks/velocity/config/go1/env_cfgs.py

@@ -23,7 +23,6 @@
   TerrainHeightSensorCfg,
 )
 from mjlab.tasks.velocity import mdp
-from mjlab.tasks.velocity.mdp import UniformVelocityCommandCfg
 from mjlab.tasks.velocity.velocity_env_cfg import make_velocity_env_cfg
 
 TerrainType = Literal["rough", "obstacles"]
@@ -312,10 +311,4 @@ def unitree_go1_flat_env_cfg(play: bool = False) -> ManagerBasedRlEnvCfg:
   # Disable terrain curriculum (not present in play mode since rough clears all).
   cfg.curriculum.pop("terrain_levels", None)
 
-  if play:
-    twist_cmd = cfg.commands["twist"]
-    assert isinstance(twist_cmd, UniformVelocityCommandCfg)
-    twist_cmd.ranges.lin_vel_x = (-1.5, 2.0)
-    twist_cmd.ranges.ang_vel_z = (-0.7, 0.7)
-
   return cfg

src/mjlab/tasks/velocity/velocity_env_cfg.py

@@ -189,7 +189,7 @@ def make_velocity_env_cfg() -> ManagerBasedRlEnvCfg:
       ranges=UniformVelocityCommandCfg.Ranges(
         lin_vel_x=(-1.0, 1.0),
         lin_vel_y=(-1.0, 1.0),
-        ang_vel_z=(-0.5, 0.5),
+        ang_vel_z=(-1.0, 1.0),
         heading=(-math.pi, math.pi),
       ),
     )