feat: register K1 locomotion deploy task#6
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Summary
Adds a deploy-side
k1_walktask so the K1 velocity-commanded locomotion policy trained inbooster_traincan run frombooster_deploy.Related training PR:
Description
For MuJoCo sim2sim checks, this task also aligns K1 stiffness, damping, and effort limits with the actuator profile used during Isaac Lab training.
The source training-side actuator profile is here:
BOOSTER_K1_CFGactuator group definitions:https://github.com/BoosterRobotics/booster_train/blob/d599b2a5bc6de5ad9c66464062e0292313e5aa36/source/booster_train/booster_train/assets/robots/booster.py#L46-L102
Expansion of
effort_limit_sim/stiffness/dampingfrombooster_joint_cfgs:https://github.com/BoosterRobotics/booster_train/blob/d599b2a5bc6de5ad9c66464062e0292313e5aa36/source/booster_train/booster_train/assets/robots/actuator.py#L145-L214
Test performed
With the exported policy placed at
tasks/locomotion/models/k1_locomotion.pt, I checked MuJoCo sim2sim with a forward velocity command.Simulation video:
6.mp4