Determined hellman

scripts/reinforcement_learning/rsl_rl/export.py

@@ -1,6 +1,11 @@
 # scripts/reinforcement_learning/rsl_rl/export.py
 #
 # Export a trained rsl_rl policy as Kinfer binary.
+# 
+# MODIFIED: This export script now accepts 16-dimensional command vectors from the deployment
+# platform but only uses the first 3 dimensions (lin_vel_x, lin_vel_y, ang_vel_z) that the
+# original model was trained on. The remaining 13 dimensions are ignored.
+#
 # Example usage: python scripts/reinforcement_learning/rsl_rl/export.py --task=Isaac-Velocity-Rough-Kbot-v0 --checkpoint ~/Github/IsaacLab/logs/rsl_rl/kbot_rough/[path_to_checkpoint].pt
 # Or you can omit the checkpoint arg and it will use the latest checkpoint in the logs/rsl_rl/agent_name/ directory
 import argparse
@@ -237,7 +242,12 @@ def main():
     command_tensor = torch.cat([command_manager.get_command(name) for name in command_term_names], dim=-1)
     command_tensor = command_tensor.to("cpu").flatten()
 
-    NUM_COMMANDS = command_tensor.shape[0]
+    # Original model expects 3D commands (lin_vel_x, lin_vel_y, ang_vel_z)
+    # But deployment platform provides 16D commands - we only use first 3
+    MODEL_NUM_COMMANDS = command_tensor.shape[0]  # This is 3 for the original model
+    PLATFORM_NUM_COMMANDS = 16  # Platform provides 16D commands
+
+    print(f"[INFO] Model expects {MODEL_NUM_COMMANDS} command dimensions, but deployment platform provides {PLATFORM_NUM_COMMANDS} dimensions.")
 
     def construct_obs_rnn(
         projected_gravity: torch.Tensor,
@@ -247,12 +257,18 @@ def construct_obs_rnn(
         gyroscope: torch.Tensor,
         carry: torch.Tensor,
     ) -> torch.Tensor:
+        # Extract only the first 3 dimensions from the 16D command vector
+        # [0] x linear velocity [m/s]
+        # [1] y linear velocity [m/s] 
+        # [2] z angular velocity [rad/s]
+        model_command = command[:MODEL_NUM_COMMANDS]
+
         offset_joint_angles = joint_angles - _INIT_JOINT_POS
         scaled_projected_gravity = projected_gravity / 9.81
         obs = torch.cat(
             (
                 scaled_projected_gravity,
-                command,
+                model_command,
                 offset_joint_angles,
                 joint_angular_velocities,
                 gyroscope,
@@ -301,7 +317,7 @@ def _init_fn() -> torch.Tensor:
         torch.zeros(3),
         torch.zeros(NUM_JOINTS),
         torch.zeros(NUM_JOINTS),
-        torch.zeros(NUM_COMMANDS),
+        torch.zeros(PLATFORM_NUM_COMMANDS),  # Use 16D command vector
         torch.zeros(3),
         torch.zeros(*CARRY_SHAPE),
     )
@@ -312,7 +328,7 @@ def _init_fn() -> torch.Tensor:
     joint_names = list(env.unwrapped.scene["robot"].data.joint_names)
     metadata = PyModelMetadata(
         joint_names=joint_names,
-        num_commands=NUM_COMMANDS,
+        num_commands=PLATFORM_NUM_COMMANDS,  # Use 16D command vector size
         carry_size=list(CARRY_SHAPE),
     )
 

source/isaaclab_assets/isaaclab_assets/robots/kscale.py

@@ -234,6 +234,6 @@
         joint_pos=_INIT_JOINT_POS,
         joint_vel={".*": 0.0},
     ),
-    soft_joint_pos_limit_factor=0.9,
+    soft_joint_pos_limit_factor=1.0,
     actuators=_ACTUATORS,
 )

source/isaaclab_assets/isaaclab_assets/robots/temp_kbot_usd/.asset_hash

@@ -1 +1 @@
-eb61befdd2f61e6071524a9a0e9dae4a
+b01cba76b5e9249e61450f34aa6d792e

source/isaaclab_assets/isaaclab_assets/robots/temp_kbot_usd/README.md

@@ -0,0 +1,80 @@
+
+# Instructions 
+
+For importing the kbot into Isaaclab
+
+
+## URDF Importer
+
+Instead of using the GUI option, use the script with command 
+
+```bash
+# cd into Isaaclab folder
+./isaaclab.sh -p scripts/tools/convert_urdf.py /path/to/robot.urdf /path/to/desired/output/robot.usd
+```
+
+The reason for this is that you need to NOT merge the joints, because otherwise the imu will get merged into the base and not have a "RigidBodyAPI" which is needed.
+
+## Update training script 
+
+Note that you will need to change the names of anything referencing the geoms in the train config ,for example in:
+
+`IsaacLab/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/kbot/rough_rnn_env_cfg.py`
+
+```python
+# Physics material randomization (friction with the floor)
+self.events.physics_material = EventTerm(
+    func=mdp.randomize_rigid_body_material,
+    mode="reset",
+    params={
+        "asset_cfg": SceneEntityCfg(
+            "robot", body_names=["LFootBushing_GPF_1517_12", "RFootBushing_GPF_1517_12"]
+        ),
+        "static_friction_range": (0.1, 2.0),
+        "dynamic_friction_range": (0.1, 2.0),
+        "restitution_range": (0.0, 0.1),
+        "num_buckets": 64,
+        "make_consistent": True, # Ensure dynamic friction is always less than static friction
+    },
+)
+
+# Individual link mass randomization for robustness
+self.events.add_limb_masses = EventTerm(
+    func=mdp.randomize_rigid_body_mass,
+    mode="reset",
+    params={
+        "asset_cfg": SceneEntityCfg(
+            "robot",
+            body_names=[
+                "KD_B_102B_TORSO_BTM",
+                "KD_D_102L_L_Hip_Yoke_Drive",
+                "KD_C_101L_ShldYokeDrive",
+                "KD_D_102R",
+                "KC_C_101R_ShldYokeDrive",
+                "L_Hip_Roll_RS03",
+                "L_Hip_Roll_RS03_2",
+                "RS03_4",
+                "RS03_3",
+                "KD_D_301L_L_Femur_Lower_Drive",
+                "KD_C_301L_LowerBicepDrive",
+                "KD_D_301R",
+                "KC_C_202R",
+                "KD_D_401L_L_Shin_Drive",
+                "KC_C_401L_Up_Forearm_Drive",
+                "KD_D_401R",
+                "KC_C_401R_R_UpForearmDrive",
+                "LFootBushing_GPF_1517_12",
+                "PRT0001_2",
+                "RFootBushing_GPF_1517_12",
+                "PRT0001",
+            ],
+        ),
+        "mass_distribution_params": (0.8, 1.2),
+        "operation": "scale",
+        "distribution": "uniform",
+        "recompute_inertia": True,
+    },
+)
+```
+
+

source/isaaclab_assets/isaaclab_assets/robots/temp_kbot_usd/config.yaml

@@ -1,5 +1,5 @@
-asset_path: /home/ali/repos/ksim_stuff_new/make-assets/gen/kbot-headless-full-collisions/robot.urdf
-usd_dir: /home/ali/repos/ksim_stuff_new/make-assets/gen/kbot-headless-full-collisions/w_imu
+asset_path: /home/ali/repos/klab_stuff/kbot-headless/robot.urdf
+usd_dir: /home/ali/repos/klab_stuff/kbot-headless/usd_out
 usd_file_name: robot.usd
 force_usd_conversion: true
 make_instanceable: true
@@ -19,5 +19,5 @@ self_collision: false
 replace_cylinders_with_capsules: false
 collision_from_visuals: false
 ##
-# Generated by UrdfConverter on 2025-07-22 at 14:22:48.
+# Generated by UrdfConverter on 2025-09-09 at 19:00:07.
 ##