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alexschmander
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Feb 20, 2026
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alexschmander
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Two small cleanups.
How do we want to handle this PR? Since I cannot really comment on the content of the training setup, should we simply merge it without further review?
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These meshes are duplicated. Twice actually.
Two instances in here tools/machine-learning/konerl/model/meshes and tools/machine-learning/konerl/model/meshes/robot, and then the one in tools/mujoco-simulator/mujoco-simulator/K1/meshes. Can we reduce this to a single instance or at the very least only to one instance in each tool folder.
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| from mjlab.managers.observation_manager import ObservationManager | ||
| from mjlab.scene import Scene | ||
| from scipy.spatial.transform import Rotation as R | ||
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| from konerl.k1_config import ZERO_POSE | ||
| from konerl.tasks.k1_velocity_tracking.env_cfg import k1_rough_env_cfg | ||
| from konerl.tasks.k1_velocity_tracking.observations import make_observation_cfg |
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There are unused imports here.
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Also, the pyproject.toml seems to have escaped a |
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Why? What?
Adds the stuff I had in my private K1 RL repo to our public codebase.
The training code is in a working state, but has not yet been tested on physical hardware.
Fixes #
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
If there are some improvements that could be done in a next iteration, describe them here.
How to Test
Describe how to test your changes. (For the reviewer)