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cwjwudi / OmniIsaacGymEnvs-Cassie

This is a clone of OmniIsaacGymEnvs, and it is used for my rl env test.
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[Fatal] [omni.usd] Used null prim？ #1

Open 2361098148 opened 1 year ago

2361098148 commented 1 year ago

Hello, I succeded in running the origin "omniisaacgymenvs", but when i tried to run the cassie demo in your rep, I got this error, could help, thanks a lot!! 2023-06-14 16-35-57屏幕截图

cwjwudi commented 1 year ago

Maybe you need to change the self._usd_path in /omniisaacgymenvs/robots/articulations/cassie.py.

2361098148 commented 1 year ago

Thanks a lot! That works~

2361098148 commented 1 year ago

Hi, After trained, the reward is pretty low, Is that because the unsuitable hyperparameters? But I havent chang any params yet.

cwjwudi commented 1 year ago

This work only make the cassie can walk，maybe jump，but not good. You need to tune params yourself.As a sample，I used about 40 minutes， with a single RTX3090 in default params.

2361098148 commented 1 year ago

在代码里面看到中文注释，老哥也还在继续研究这个么？我在使用过程中不知道怎么debug，老哥有什么建议么，是怎么设置的python？方便的话可以加个微信么：lyh15698475370，之后可以一起交流～

cwjwudi commented 1 year ago

我今年毕业了，不再研究这个领域了。如果你是指的debug是指设置解释器，我自己的解决方法是使用pycharm，指定解释器为/.local/share/ov/pkg/isaac_sim-*/python.sh，这样pycharm会自动设置所有的环境变量。后续交流可以直接联系我的邮箱cwjwudi@foxmail.com，我会尽力回复。

2361098148 commented 1 year ago

好的，感谢老哥～～