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alik-gitalik-git
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update training script for new kbot
1 parent 05ef698 commit 4249756

1 file changed

Lines changed: 42 additions & 42 deletions

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  • source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/kbot

‎source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/kbot/rough_rnn_env_cfg.py‎

Lines changed: 42 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -369,7 +369,7 @@ class KBotRewards(RewardsCfg):
369369
"command_name": "base_velocity",
370370
"sensor_cfg": SceneEntityCfg(
371371
"contact_forces",
372-
body_names=["KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"],
372+
body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"],
373373
),
374374
"threshold": 0.4,
375375
},
@@ -380,10 +380,10 @@ class KBotRewards(RewardsCfg):
380380
params={
381381
"sensor_cfg": SceneEntityCfg(
382382
"contact_forces",
383-
body_names=["KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"],
383+
body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"],
384384
),
385385
"asset_cfg": SceneEntityCfg(
386-
"robot", body_names=["KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"]
386+
"robot", body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"]
387387
),
388388
},
389389
)
@@ -396,7 +396,7 @@ class KBotRewards(RewardsCfg):
396396
"std": 0.05,
397397
"tanh_mult": 2.0,
398398
"asset_cfg": SceneEntityCfg(
399-
"robot", body_names=["KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"]
399+
"robot", body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"]
400400
),
401401
},
402402
)
@@ -493,7 +493,7 @@ class KBotRewards(RewardsCfg):
493493
"threshold": 360.0,
494494
"sensor_cfg": SceneEntityCfg(
495495
"contact_forces",
496-
body_names=["KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"],
496+
body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"],
497497
),
498498
},
499499
)
@@ -505,8 +505,8 @@ class KBotRewards(RewardsCfg):
505505
params={
506506
"min_distance": 0.25, # Manually measured distance between feet
507507
"asset_cfg": SceneEntityCfg("robot"),
508-
"body_a_names": ["KB_D_501L_L_LEG_FOOT"],
509-
"body_b_names": ["KB_D_501R_R_LEG_FOOT"],
508+
"body_a_names": ["LFootBushing_GPF_1517_12"],
509+
"body_b_names": ["RFootBushing_GPF_1517_12"],
510510
},
511511
)
512512

@@ -571,7 +571,7 @@ class CriticCfg(ObservationGroupCfg):
571571
scale=0.01,
572572
params={
573573
"asset_cfg": SceneEntityCfg(
574-
"robot", body_names=["KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"]
574+
"robot", body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"]
575575
)
576576
},
577577
)
@@ -582,7 +582,7 @@ class CriticCfg(ObservationGroupCfg):
582582
params={
583583
"asset_cfg": SceneEntityCfg(
584584
"robot",
585-
body_names=["base", "KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"],
585+
body_names=["base", "LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"],
586586
)
587587
},
588588
noise=Unoise(n_min=-0.0001, n_max=0.0001),
@@ -706,7 +706,7 @@ def __post_init__(self):
706706
mode="reset",
707707
params={
708708
"asset_cfg": SceneEntityCfg(
709-
"robot", body_names=["KB_D_501L_L_LEG_FOOT", "KB_D_501R_R_LEG_FOOT"]
709+
"robot", body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"]
710710
),
711711
"static_friction_range": (0.1, 2.0),
712712
"dynamic_friction_range": (0.1, 2.0),
@@ -724,27 +724,27 @@ def __post_init__(self):
724724
"asset_cfg": SceneEntityCfg(
725725
"robot",
726726
body_names=[
727-
"Torso_Side_Right",
728-
"KC_D_102L_L_Hip_Yoke_Drive",
729-
"KC_C_104L_PitchHardstopDriven",
730-
"KC_D_102R_R_Hip_Yoke_Drive",
731-
"KC_C_104R_PitchHardstopDriven",
732-
"RS03_5",
733-
"RS03_6",
727+
"KD_B_102B_TORSO_BTM",
728+
"KD_D_102L_L_Hip_Yoke_Drive",
729+
"KD_C_101L_ShldYokeDrive",
730+
"KD_D_102R",
731+
"KC_C_101R_ShldYokeDrive",
732+
"L_Hip_Roll_RS03",
733+
"L_Hip_Roll_RS03_2",
734734
"RS03_4",
735735
"RS03_3",
736-
"KC_D_301L_L_Femur_Lower_Drive",
737-
"KC_C_202L",
738-
"KC_D_301R_R_Femur_Lower_Drive",
736+
"KD_D_301L_L_Femur_Lower_Drive",
737+
"KD_C_301L_LowerBicepDrive",
738+
"KD_D_301R",
739739
"KC_C_202R",
740-
"KC_D_401L_L_Shin_Drive",
741-
"KC_C_401L_L_UpForearmDrive",
742-
"KC_D_401R_R_Shin_Drive",
740+
"KD_D_401L_L_Shin_Drive",
741+
"KC_C_401L_Up_Forearm_Drive",
742+
"KD_D_401R",
743743
"KC_C_401R_R_UpForearmDrive",
744-
"KB_D_501L_L_LEG_FOOT",
745-
"KB_C_501X_Left_Bayonet_Adapter_Hard_Stop",
746-
"KB_D_501R_R_LEG_FOOT",
747-
"KB_C_501X_Right_Bayonet_Adapter_Hard_Stop",
744+
"LFootBushing_GPF_1517_12",
745+
"PRT0001_2",
746+
"RFootBushing_GPF_1517_12",
747+
"PRT0001",
748748
],
749749
),
750750
"mass_distribution_params": (0.8, 1.2),
@@ -827,7 +827,7 @@ def __post_init__(self):
827827

828828
# I think this is because the "base" is not a rigid body in the robot asset
829829
self.events.add_base_mass = None
830-
self.events.base_com.params["asset_cfg"] = SceneEntityCfg("robot", body_names="Torso_Side_Right")
830+
self.events.base_com.params["asset_cfg"] = SceneEntityCfg("robot", body_names="KD_B_102B_TORSO_BTM")
831831

832832
# Rewards
833833
self.rewards.lin_vel_z_l2.weight = 0.0
@@ -876,24 +876,24 @@ def __post_init__(self):
876876
# Terminations
877877
self.terminations.base_contact.params["sensor_cfg"].body_names = [
878878
"base",
879-
"KC_D_102L_L_Hip_Yoke_Drive",
880-
"RS03_5",
881-
"KC_D_301L_L_Femur_Lower_Drive",
882-
"KC_D_401L_L_Shin_Drive",
883-
"KC_C_104L_PitchHardstopDriven",
884-
"RS03_6",
885-
"KC_C_202L",
886-
"KC_C_401L_L_UpForearmDrive",
887-
"KB_C_501X_Left_Bayonet_Adapter_Hard_Stop",
888-
"KC_D_102R_R_Hip_Yoke_Drive",
879+
"KD_D_102L_L_Hip_Yoke_Drive",
880+
"L_Hip_Roll_RS03",
881+
"KD_D_301L_L_Femur_Lower_Drive",
882+
"KD_D_401L_L_Shin_Drive",
883+
"KD_C_101L_ShldYokeDrive",
884+
"L_Hip_Roll_RS03_2",
885+
"KD_C_301L_LowerBicepDrive",
886+
"KC_C_401L_Up_Forearm_Drive",
887+
"PRT0001_2",
888+
"KD_D_102R",
889889
"RS03_4",
890-
"KC_D_301R_R_Femur_Lower_Drive",
891-
"KC_D_401R_R_Shin_Drive",
892-
"KC_C_104R_PitchHardstopDriven",
890+
"KD_D_301R",
891+
"KD_D_401R",
892+
"KC_C_101R_ShldYokeDrive",
893893
"RS03_3",
894894
"KC_C_202R",
895895
"KC_C_401R_R_UpForearmDrive",
896-
"KB_C_501X_Right_Bayonet_Adapter_Hard_Stop",
896+
"PRT0001",
897897
]
898898

899899
# Apply randomization settings based on flag

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