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[Bug Report] Training Issue for Unitree A1 #148
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Hi, yes. We noticed the same. One of our colleagues has been looking into it and has potentially fixed the issue. While the rewards we chose are similar to that from We will update the asset on Nucleus and make an MR soon with the working environment. |
# Description This MR updates the tutorials to the latest version of Orbit. It introduced a new structure for them. They cover basic sim elements, assets, sensors, scenes, and envs. Fixes #190 , #149 , #148 , #147 , #151, #152, #155, #156, #157 ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: James Smith <jsmith@theaiinstitute.com>
Hi everyone, We have updated the assets and the environments to support the legged locomotion training for the following robots:
For Go1, we are using the actuator network provided here. Hopefully, this helps people who are trying sim-to-real for the robot. |
# Description This MR updates the tutorials to the latest version of Orbit. It introduced a new structure for them. They cover basic sim elements, assets, sensors, scenes, and envs. Fixes #190 , #149 , #148 , #147 , #151, #152, #155, #156, #157 ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: James Smith <jsmith@theaiinstitute.com>
# Description This MR updates the tutorials to the latest version of Orbit. It introduced a new structure for them. They cover basic sim elements, assets, sensors, scenes, and envs. Fixes isaac-sim#190 , isaac-sim#149 , isaac-sim#148 , isaac-sim#147 , isaac-sim#151, isaac-sim#152, isaac-sim#155, isaac-sim#156, isaac-sim#157 ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: James Smith <jsmith@theaiinstitute.com>
# Description Fixes errors related to import of omni.isaac.ui and debug_draw extensions due to Isaac Sim 4.5 renaming/restructuring. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Fixes errors related to import of omni.isaac.ui and debug_draw extensions due to Isaac Sim 4.5 renaming/restructuring. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Hi,
The training for quadruped locomotion using task=Isaac-Velocity-Flat-Anymal-C-v0 works beautifully but there is an issue when trying out the training for the Unitree A1 robot with task=Isaac-Velocity-Flat-Unitree-A1-v0. When looking at the result, the A1 moves a bit weird and it looks unnatural. The mean reward only reached to about 8 after 300 iterations while the mean reward of Anymal training reached to about 16. How can we make the A1 training result to be as good as the Anymal one and the locomotion gait to be more natural? Thank you!
Steps to reproduce
Run the following command using the devel branch to train A1:
./orbit.sh -p source/standalone/workflows/rsl_rl/train.py --task=Isaac-Velocity-Flat-Unitree-A1-v0 --headless
Run the following command to see the trained result:
./orbit.sh -p source/standalone/workflows/rsl_rl/play.py --task=Isaac-Velocity-Flat-Unitree-A1-v0 --num_envs 1
System Info
Additional context
Please see the attached video of training result and image of training log for more information.
Orbit_A1_Locomotion_Training_Result.mov
Checklist
The text was updated successfully, but these errors were encountered: