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[Bug Report] Training Issue for Unitree A1 #148

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kolabearafk opened this issue Nov 13, 2023 · 2 comments
Closed
2 tasks done

[Bug Report] Training Issue for Unitree A1 #148

kolabearafk opened this issue Nov 13, 2023 · 2 comments
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@Mayankm96
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bug Something isn't working

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@kolabearafk
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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

  • Commit: devel branch, commit 47e4800
  • Isaac Sim Version: 2023.1.0-hotfix.1
  • OS: Ubuntu 20.04.6 LTS
  • GPU: 2080 TI
  • CUDA: 12.2
  • GPU Driver: 535.104.12

Additional context

Please see the attached video of training result and image of training log for more information.

A1TrainingLogImage
Orbit_A1_Locomotion_Training_Result.mov

Checklist

  • I have checked that there is no similar issue in the repo (required)
  • I have checked that the issue is not in running Isaac Sim itself and is related to the repo
@Mayankm96
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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 legged_gym, I think the main culprit here is that the USD for Unitree A1 on the Nucleus is not correct. It was generated from some old version of Isaac Sim's URDF importer, where some of the inertial quantities were not being loaded correctly. We generated a new one this week and managed to train a locomotion policy.

We will update the asset on Nucleus and make an MR soon with the working environment.

@Mayankm96 Mayankm96 added the bug Something isn't working label Dec 6, 2023
@Mayankm96 Mayankm96 self-assigned this Dec 6, 2023
Mayankm96 pushed a commit that referenced this issue Dec 10, 2023
@pascal-roth @jsmith-bdai
Updates the tutorials documentation to latest framework (#246)
623b2d9 
# 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>
@Mayankm96
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Mayankm96 commented Dec 19, 2023 •
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Hi everyone,

We have updated the assets and the environments to support the legged locomotion training for the following robots:

  • ANYbotics: ANYmal-B, ANYmal-C, ANYmal-D
  • Unitree: A1, Go1, Go2
  • Agility: Cassie

For Go1, we are using the actuator network provided here. Hopefully, this helps people who are trying sim-to-real for the robot.

Mayankm96 pushed a commit that referenced this issue Dec 22, 2023
@pascal-roth @jsmith-bdai @Mayankm96
Updates the tutorials documentation to latest framework (#246)
77c2834 
# 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>
fatimaanes pushed a commit to fatimaanes/omniperf that referenced this issue Aug 8, 2024
@pascal-roth @jsmith-bdai
Updates the tutorials documentation to latest framework (isaac-sim#246)
d48d918 
# 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>
kellyguo11 added a commit to kellyguo11/IsaacLab-public that referenced this issue Oct 27, 2024
@kellyguo11 @Dhoeller19
Fixes import issues with omni.isaac.ui and debug_draw (isaac-sim#148)
7b6bcb9 
# 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
-->
kellyguo11 added a commit to kellyguo11/IsaacLab-public that referenced this issue Oct 27, 2024
@kellyguo11
Fixes import issues with omni.isaac.ui and debug_draw (isaac-sim#148)
aa31d74 
# 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
-->
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