Add G1 AGILE tabletop apple-to-plate environment#562

Merged

lgulich merged 13 commits intomainfrom

eng-agent/ad-8hb-g1-agile-tabletop-apple-plate

Apr 12, 2026

Commits on Apr 12, 2026

Add G1 AGILE tabletop apple-to-plate task
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Fix G1 AGILE test: set base height to 0.75 in initial-state test
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fix: resolve CI failure in test_initial_state_not_terminated
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fix: re-place apple after warmup to prevent false object_dropped termination
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Improve G1 AGILE tabletop apple-to-plate scene and add AGILE+Pink embodiment
lgulich
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Fix false success termination in pick-and-place tasks
lgulich
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style: format terminations.py and pick_and_place_task.py with black

lgulich
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claude
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style: fix black (line-length=120) and isort formatting

lgulich
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claude
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style: fix black formatting in g1.py

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claude
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fix: handle XformPrimView in proximity guard for terminations

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claude
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fix: make proximity guard opt-in for PickAndPlaceTask

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claude
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fix(test): enable proximity guard in tabletop test

lgulich
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claude
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style: address review nits — move imports, add clarifying comments
lgulich
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