Comments (4)
Hello, I have the same problem as you, have you solved it?
Hi,
I have not solved this problem yet, but I have some probable solutions for this.
I suspect that the reason why the learned controller cannot make character move is rooted in the joints' pd gains. The stiffness and damping from pd controller require some experiences to tune. You can check this for some details. This may happen when your policy learned to output pd targets instead of torques. Code from here.
So I recommend you to:
- Try some example robot model to test if this issue only happens on your customized model. If it works well, then the issue may locate in model definition.
- Try to tune pd gains. This may be of some help.
These are some solutions for this suspect from my opinion. I hope you will solve this issue.
from ase.
Hello, I have the same problem as you, have you solved it?
Hi,
I have not solved this problem yet, but I have some probable solutions for this.
I suspect that the reason why the learned controller cannot make character move is rooted in the joints' pd gains. The stiffness and damping from pd controller require some experiences to tune. You can check this for some details. This may happen when your policy learned to output pd targets instead of torques. Code from here.
So I recommend you to:
- Try some example robot model to test if this issue only happens on your customized model. If it works well, then the issue may locate in model definition.
- Try to tune pd gains. This may be of some help.
These are some solutions for this suspect from my opinion. I hope you will solve this issue.
Wow, thank you so much for your prompt and detailed reply! You have a point, and I also suspect that this is the problem; In addition, I just made some other attempts: I changed the "drive_mode" from position-driven to force-driven, and increased the power scale, and the robot began to move. I have not found the specific reason why the robot cannot move normally in the position driven mode, and I will share it with you further after I solve it. Oh, I almost forgot, I tried two different robot models before, the first one can move normally during training, but the second one can't. I don't know whether the "drive_mode" of Isaac gym is still related to the robot model defined by xml, I will continue to find a solution.
Bingo, I finally solved the problem by following the solutions you provided.
I looked at the xml file for the second robot and found that there is no stiffness in the joint tag, only a default damping, which causes the action output in PD drive mode to actually act on the robot joints to be 0, so the robot stays still. Finally I added the stiffness and damping for each joint in the robot's xml file and the robot started moving without any surprises.
Finally, thank you so much for the ideas you provided, this helped me solve this problem quickly!
from ase.
Hello, I have the same problem as you, have you solved it?
from ase.
Hello, I have the same problem as you, have you solved it?
Hi,
I have not solved this problem yet, but I have some probable solutions for this.
I suspect that the reason why the learned controller cannot make character move is rooted in the joints' pd gains. The stiffness and damping from pd controller require some experiences to tune. You can check this for some details. This may happen when your policy learned to output pd targets instead of torques. Code from here.
So I recommend you to:
- Try some example robot model to test if this issue only happens on your customized model. If it works well, then the issue may locate in model definition.
- Try to tune pd gains. This may be of some help.
These are some solutions for this suspect from my opinion. I hope you will solve this issue.
Wow, thank you so much for your prompt and detailed reply!
You have a point, and I also suspect that this is the problem; In addition, I just made some other attempts: I changed the "drive_mode" from position-driven to force-driven, and increased the power scale, and the robot began to move. I have not found the specific reason why the robot cannot move normally in the position driven mode, and I will share it with you further after I solve it.
Oh, I almost forgot, I tried two different robot models before, the first one can move normally during training, but the second one can't. I don't know whether the "drive_mode" of Isaac gym is still related to the robot model defined by xml, I will continue to find a solution.
from ase.
Related Issues (20)
- ISAAC gym preview 4 requires rl-games>=1.6.0 and does not meet ASE program requirements HOT 3
- [fbx_sdk install manual] if you stucked in install fbx_sdk for import fbx or other files. check this HOT 1
- How do you come up with the "rotation" and "scale" value in the retarget config file? HOT 2
- Retargeted animation looks really weird (upperArm position)... Is that normal? HOT 3
- Characters are spawned in the sky? HOT 2
- Is there a Issac Sim version of this repo or something similar in the works? I just want to ask before attempting a port of this to Isaac sim.
- Installling requirements tips HOT 1
- tensors are created on cpu when cuda is specified as the device.
- sudden translation / rotation changes of motion loaded from fbx
- mocap data HOT 1
- The implementation seems to be different from the method in the paper HOT 1
- About the Implementation of FK
- More about motion weights
- the source of the CMU fbx files HOT 5
- Exporting trained motion to BVH or FBX HOT 1
- About function '_calc_enc_error'
- Training with customized characters HOT 2
- could you please provide full link abou cmu-fbx files HOT 1
- What is the meanning of function _get_pairwise_average_translation
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from ase.