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isaac-sim / IsaacGymEnvs

Isaac Gym Reinforcement Learning Environments
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Does IsaacGymEnvs support unitree aliengo training #86

Open tinnerhrhe opened 1 year ago

tinnerhrhe commented 1 year ago

The legged_gym codebase failed to train unitree aliengo robot. The robot even can not stand up given fixed correct command. However, if I replace the 4 {RR,RL,FR,FL} 'continuous' thigh joints to 'revolute' and add corresponding limits, robot can be trained well. What's the problem, does IsaacGymEnvs support unitree aliengo training?

TextZip commented 1 year ago

As per the current documentation for Isaac Gym(1.0preview4),

"Fixed, revolute, and prismatic joints are well-tested and fully supported."

Changing the joint type from continuous to revolute with limits is the right fix.