Add sumo package with G1 and Spot tasks, dora app, and CI

.github/workflows/precommit.yml

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+name: Precommit
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+permissions:
+  contents: read
+
+jobs:
+  precommit:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v6
+
+      - uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: latest
+          cache: true
+
+      # ── Stubs cache ────────────────────────────────────────────────
+      - name: Restore typings cache
+        uses: actions/cache@v5
+        id: typings-cache
+        with:
+          path: typings
+          key: typings-${{ hashFiles('pyproject.toml') }}
+
+      - name: Generate stubs if cache miss
+        if: steps.typings-cache.outputs.cache-hit != 'true'
+        run: pixi run pybind11-stubgen mujoco -o typings/
+
+      # ── Pre-commit (ruff lint, ruff format, trailing whitespace, etc.)
+      - name: Run pre-commit
+        run: pixi run pre-commit run --all-files
+
+      # ── Type checking ──────────────────────────────────────────────
+      - name: Run Pyright
+        run: pixi run pyright sumo/

.github/workflows/test.yml

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+name: Test
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+permissions:
+  contents: read
+
+jobs:
+  test:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v6
+
+      - uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: latest
+          cache: true
+
+      # ── Build C++ extensions ──────────────────────────────────────
+      - name: Restore build cache
+        id: ext-cache
+        uses: actions/cache@v5
+        with:
+          path: |
+            g1_extensions/build
+          key: build-${{ hashFiles('pixi.lock', 'g1_extensions/**/*.cpp', 'g1_extensions/**/*.h', 'g1_extensions/**/CMakeLists.txt') }}
+
+      - name: Build extensions
+        run: pixi run build
+
+      # ── Download mesh assets ──────────────────────────────────────
+      - name: Download meshes from release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: pixi run python -c "from judo.utils.assets import download_and_extract_meshes; from judo import MODEL_PATH; download_and_extract_meshes(str(MODEL_PATH))"
+
+      # ── Pre-warm robot_descriptions cache ─────────────────────────
+      - name: Cache mujoco_menagerie meshes
+        run: pixi run python -c "from robot_descriptions import spot_mj_description"
+
+      # ── Tests ─────────────────────────────────────────────────────
+      - name: Run tests
+        run: pixi run pytest -rsx

.gitignore

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+# macOS
+.DS_Store
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py.cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+#poetry.toml
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#   pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
+#   https://pdm-project.org/en/latest/usage/project/#working-with-version-control
+#pdm.lock
+#pdm.toml
+.pdm-python
+.pdm-build/
+
+# pixi
+#   Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
+#pixi.lock
+#   Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
+#   in the .venv directory. It is recommended not to include this directory in version control.
+.pixi
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.envrc
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# Abstra
+# Abstra is an AI-powered process automation framework.
+# Ignore directories containing user credentials, local state, and settings.
+# Learn more at https://abstra.io/docs
+.abstra/
+
+# Visual Studio Code
+#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore
+#  that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
+#  and can be added to the global gitignore or merged into this file. However, if you prefer,
+#  you could uncomment the following to ignore the entire vscode folder
+# .vscode/
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# Cursor
+#  Cursor is an AI-powered code editor. `.cursorignore` specifies files/directories to
+#  exclude from AI features like autocomplete and code analysis. Recommended for sensitive data
+#  refer to https://docs.cursor.com/context/ignore-files
+.cursorignore
+.cursorindexingignore
+
+# Marimo
+marimo/_static/
+marimo/_lsp/
+__marimo__/
+
+# judo source checkout for building mujoco_extensions
+.judo-src/
+
+out/
+outputs/
+
+# typings
+# see: https://github.com/google-deepmind/mujoco/issues/1292
+typings/

.pre-commit-config.yaml

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+default_language_version:
+  python: python3
+repos:
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v5.0.0
+  hooks:
+  - id: trailing-whitespace
+  - id: end-of-file-fixer
+- repo: https://github.com/charliermarsh/ruff-pre-commit
+  rev: v0.11.8
+  hooks:
+  - id: ruff
+    types_or: [ python, pyi, jupyter ]
+    args: [ --fix, --config=pyproject.toml ]
+  - id: ruff-format
+    types_or: [ python, pyi, jupyter ]
+    args: [ --config=pyproject.toml ]

AGENTS.md

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+# Repository Guidelines
+
+## Project Structure & Module Organization
+`sumo/` is the active package. Put task code in `sumo/tasks/g1/` or `sumo/tasks/spot/`, controller wrappers in `sumo/controller/`, CLI and MPC entrypoints in `sumo/cli.py` and `sumo/run_mpc/`, and MuJoCo XML/mesh assets under `sumo/models/`. `g1_extensions/` contains the optional pybind11 extension for G1 backends. `tests/` holds the pytest suite. Treat `judo-private/` as an old fork used only as migration reference; match new code to the public `judo-rai` repo instead. Use `.judo-src/` as the local reference checkout when porting behavior.
+
+## Build, Test, and Development Commands
+Use `pixi` by default:
+
+```bash
+pixi install
+pixi run build
+pixi run build-judo-ext
+pixi run pytest tests/ -v
+pixi run sumo --init-task g1_box --num-episodes 1
+```
+
+`pixi run build` compiles `g1_extensions`; `pixi run build-judo-ext` builds Judo's `mujoco_extensions` backend for Spot tasks. `pixi install -e dev` remains equivalent to `pixi install` for this repo, but `pixi run` without `-e` already targets the default full app environment. Use `pip install -e .` only as a lightweight fallback when you do not need the managed `pixi` environment.
+
+## Coding Style & Naming Conventions
+Write Python with 4-space indentation, explicit imports, and type-aware dataclass configs. Follow existing naming: `snake_case` for modules/functions, `PascalCase` for classes, and `*Config` for task/config dataclasses such as `G1BoxConfig`. New task modules should follow patterns like `g1_box.py` or `spot_table_drag.py`. Prefer `ruff check .` before submitting changes. When porting code, preserve `judo-rai` APIs and conventions first, even if `judo-private/` differs.
+
+## Testing Guidelines
+Add tests in `tests/` and name files `test_*.py`. Cover imports, task registration, and task-specific behavior such as `reset()`, `reward()`, and control shape. Mark extension-only tests with `@pytest.mark.g1_extensions`; `tests/conftest.py` skips them when `g1_extensions` is unavailable. When adding a task, update registration in `sumo/tasks/__init__.py` and add at least one smoke test.
+
+## Commit & Pull Request Guidelines
+The repo history is minimal, so use short imperative commit subjects. Scoped messages are preferred, for example `feat(tasks): port spot_table_drag`. PRs should summarize the port or feature, note what was aligned to public `judo-rai`, list commands run, and include screenshots or logs for simulator-facing changes. Avoid mixing migration cleanup with unrelated refactors.