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Milad-Rakhsha-NVMilad-Rakhsha-NV
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added policy transfer play script for Newton to physX
Signed-off-by: Milad Rakhsha <[email protected]>
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‎scripts/newton_sim2sim/mappings/sim2sim_anymal_d.yaml‎

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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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# Joint names in the source physics engine where policy is trained (Newton)
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source_joint_names:
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- "LF_HAA"
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- "LF_HFE"
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- "LF_KFE"
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- "LH_HAA"
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- "LH_HFE"
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- "LH_KFE"
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- "RF_HAA"
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- "RF_HFE"
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- "RF_KFE"
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- "RH_HAA"
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- "RH_HFE"
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- "RH_KFE"
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# Joint names in the target physics engine where policy is deployed (PhysX)
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target_joint_names:
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- "LF_HAA"
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- "LH_HAA"
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- "RF_HAA"
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- "RH_HAA"
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- "LF_HFE"
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- "LH_HFE"
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- "RF_HFE"
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- "RH_HFE"
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- "LF_KFE"
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- "LH_KFE"
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- "RF_KFE"
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- "RH_KFE"

‎scripts/newton_sim2sim/mappings/sim2sim_g1.yaml‎

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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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# Joint names in the source physics engine where policy is trained (Newton)
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source_joint_names:
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- "left_hip_pitch_joint"
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- "left_hip_roll_joint"
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- "left_hip_yaw_joint"
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- "left_knee_joint"
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- "left_ankle_pitch_joint"
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- "left_ankle_roll_joint"
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- "right_hip_pitch_joint"
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- "right_hip_roll_joint"
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- "right_hip_yaw_joint"
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- "right_knee_joint"
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- "right_ankle_pitch_joint"
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- "right_ankle_roll_joint"
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- "torso_joint"
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- "left_shoulder_pitch_joint"
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- "left_shoulder_roll_joint"
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- "left_shoulder_yaw_joint"
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- "left_elbow_pitch_joint"
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- "left_elbow_roll_joint"
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- "left_five_joint"
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- "left_six_joint"
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- "left_three_joint"
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- "left_four_joint"
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- "left_zero_joint"
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- "left_one_joint"
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- "left_two_joint"
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- "right_shoulder_pitch_joint"
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- "right_shoulder_roll_joint"
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- "right_shoulder_yaw_joint"
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- "right_elbow_pitch_joint"
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- "right_elbow_roll_joint"
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- "right_five_joint"
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- "right_six_joint"
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- "right_three_joint"
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- "right_four_joint"
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- "right_zero_joint"
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- "right_one_joint"
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- "right_two_joint"
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# Joint names in the target physics engine where policy is deployed (PhysX)
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target_joint_names:
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- "left_hip_pitch_joint"
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- "right_hip_pitch_joint"
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- "torso_joint"
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- "left_hip_roll_joint"
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- "right_hip_roll_joint"
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- "left_shoulder_pitch_joint"
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- "right_shoulder_pitch_joint"
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- "left_hip_yaw_joint"
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- "right_hip_yaw_joint"
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- "left_shoulder_roll_joint"
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- "right_shoulder_roll_joint"
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- "left_knee_joint"
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- "right_knee_joint"
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- "left_shoulder_yaw_joint"
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- "right_shoulder_yaw_joint"
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- "left_ankle_pitch_joint"
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- "right_ankle_pitch_joint"
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- "left_elbow_pitch_joint"
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- "right_elbow_pitch_joint"
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- "left_ankle_roll_joint"
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- "right_ankle_roll_joint"
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- "left_elbow_roll_joint"
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- "right_elbow_roll_joint"
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- "left_five_joint"
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- "left_three_joint"
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- "left_zero_joint"
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- "right_five_joint"
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- "right_three_joint"
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- "right_zero_joint"
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- "left_six_joint"
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- "left_four_joint"
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- "left_one_joint"
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- "right_six_joint"
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- "right_four_joint"
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- "right_one_joint"
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- "left_two_joint"
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- "right_two_joint"

‎scripts/newton_sim2sim/mappings/sim2sim_h1.yaml‎

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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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# Joint names in the source physics engine where policy is trained (Newton)
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source_joint_names:
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- "left_hip_yaw"
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- "left_hip_roll"
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- "left_hip_pitch"
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- "left_knee"
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- "left_ankle"
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- "right_hip_yaw"
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- "right_hip_roll"
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- "right_hip_pitch"
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- "right_knee"
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- "right_ankle"
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- "torso"
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- "left_shoulder_pitch"
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- "left_shoulder_roll"
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- "left_shoulder_yaw"
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- "left_elbow"
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- "right_shoulder_pitch"
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- "right_shoulder_roll"
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- "right_shoulder_yaw"
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- "right_elbow"
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# Joint names in the target physics engine where policy is deployed (PhysX)
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target_joint_names:
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- "left_hip_yaw"
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- "right_hip_yaw"
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- "torso"
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- "left_hip_roll"
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- "right_hip_roll"
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- "left_shoulder_pitch"
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- "right_shoulder_pitch"
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- "left_hip_pitch"
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- "right_hip_pitch"
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- "left_shoulder_roll"
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- "right_shoulder_roll"
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- "left_knee"
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- "right_knee"
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- "left_shoulder_yaw"
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- "right_shoulder_yaw"
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- "left_ankle"
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- "right_ankle"
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- "left_elbow"
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- "right_elbow"

‎scripts/newton_sim2sim/policy_mapping.py‎

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# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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"""Policy transfer utilities for handling joint ordering differences between physics engines.
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This module provides functionality to handle policy transfer between different physics engines
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that may have different joint orderings. It supports loading joint mappings from YAML files
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and provides observation and action remapping functions.
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"""
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import yaml
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def get_joint_mappings(args_cli, action_space_dim):
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"""Get joint mappings based on command line arguments.
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Args:
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args_cli: Command line arguments
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action_space_dim: Dimension of the action space (number of joints)
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Returns:
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tuple: (source_to_target_list, target_to_source_list, source_to_target_obs_list)
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"""
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num_joints = action_space_dim
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if args_cli.policy_transfer_file:
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# Load from YAML file
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try:
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with open(args_cli.policy_transfer_file) as file:
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config = yaml.safe_load(file)
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except Exception as e:
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raise RuntimeError(f"Failed to load joint mapping from {args_cli.policy_transfer_file}: {e}")
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source_joint_names = config["source_joint_names"]
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target_joint_names = config["target_joint_names"]
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# Find joint mapping
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source_to_target = []
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target_to_source = []
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# Create source to target mapping
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for joint_name in source_joint_names:
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if joint_name in target_joint_names:
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source_to_target.append(target_joint_names.index(joint_name))
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else:
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raise ValueError(f"Joint '{joint_name}' not found in target joint names")
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# Create target to source mapping
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for joint_name in target_joint_names:
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if joint_name in source_joint_names:
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target_to_source.append(source_joint_names.index(joint_name))
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else:
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raise ValueError(f"Joint '{joint_name}' not found in source joint names")
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print(f"[INFO] Loaded joint mapping for policy transfer from YAML: {args_cli.policy_transfer_file}")
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assert (
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len(source_to_target) == len(target_to_source) == num_joints
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), "Number of source and target joints must match"
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else:
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# Use identity mapping (one-to-one)
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identity_map = list(range(num_joints))
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source_to_target, target_to_source = identity_map, identity_map
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# Create observation mapping (first 12 values stay the same for locomotion examples, then map joint-related values)
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obs_map = (
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[0, 1, 2]
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+ [3, 4, 5]
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+ [6, 7, 8]
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+ [9, 10, 11]
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+ [i + 12 + num_joints * 0 for i in source_to_target]
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+ [i + 12 + num_joints * 1 for i in source_to_target]
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+ [i + 12 + num_joints * 2 for i in source_to_target]
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)
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return source_to_target, target_to_source, obs_map

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