[fix] fix bugs for RL infra and configs caused by multirobots #279
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wyzhgxy
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…dex (#280) * [pre-commit.ci] pre-commit autoupdate (#242) * isaacgym multi-robot * test_script * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] align with isaaclab multirobot and support shadow handover * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] h1 cfg joints num bug * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] isaacgym get_joint_names order (#250) * [fix] isaaclab and isaacgym support tensorized action (#251) * [bugfix] isaaclab scene don't autodownload (#257) * [refactor] autodownload check hf exists when local not exists (#258) * [refactor] autodownload use hf_api.file_exists instead of hf_fs.exists to speed up; fix comments (#259) * [fix] roboverse_learn/eval.py use correct action format (#260) * Bug/fix action interface (#256) * [add] github issue template (#262) * [add] isaaclab support segmentation output in camera state (#264) * [add] feature to isaacgym that toggle sync viewer by press V (#217) * [bugfix] camera state bug introduced in #264 * add skillblender:walking and rsl_rl wrapper (#218) Co-authored-by: Feishi Wang <feishiwang2001@gmail.com> * Update README.md * update readme * update readme * update readme * update readme * update readme * [fix] isaaclab states not update (#265) * [update] no default camera * Reorganize doc (#266) * [fix] change traj path * [feature] add FastTD3 with config management and MJX support (#243) * [doc] add skillblender_rl.md back (#270) * [doc] add skillblender back (#271) Co-authored-by: Di Fan <difan@Dis-MacBook-Pro.local> * [add] isaacgym support contact sensor * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [add] add dof force to states, supported by isaacgym * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] import sensor state * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [add,fix] add skillblender reaching and h1_wrist_cfg; fix isaacgym (#275) Signed-off-by: weisonweileen <weisonweileen@gmail.com> Co-authored-by: Feishi Wang <feishiwang2001@gmail.com> Co-authored-by: geng-haoran <ghr@berkeley.edu> * [update] github bug report template * [fix] IsaacGym quaternion bugs (#277) * fix isaacgym tensor regresh issue (#278) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * update state_consistency test code, delete isaacgym simulate. update xyzw_to_wxyz code with indexing to avoid latency * [fix] bugs for RL infra and configs caused by multirobots (#279) --------- Signed-off-by: weisonweileen <weisonweileen@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Fisher Wang <feishiwang2001@gmail.com> Co-authored-by: weison_pan <124496507+WeisonWEileen@users.noreply.github.com> Co-authored-by: Haoran Geng <71596067+geng-haoran@users.noreply.github.com> Co-authored-by: geng-haoran <ghr@berkeley.edu> Co-authored-by: Gu Song En <45731193+gusongen@users.noreply.github.com> Co-authored-by: difan1995 <140031348+difan1995@users.noreply.github.com> Co-authored-by: Murphy <167211955+MurphyZhao04@users.noreply.github.com> Co-authored-by: Di Fan <difan@Dis-MacBook-Pro.local>
boli919
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Jul 20, 2025
WeisonWEileen
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Aug 15, 2025
…dex (#280) * [pre-commit.ci] pre-commit autoupdate (#242) * isaacgym multi-robot * test_script * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] align with isaaclab multirobot and support shadow handover * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] h1 cfg joints num bug * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] isaacgym get_joint_names order (#250) * [fix] isaaclab and isaacgym support tensorized action (#251) * [bugfix] isaaclab scene don't autodownload (#257) * [refactor] autodownload check hf exists when local not exists (#258) * [refactor] autodownload use hf_api.file_exists instead of hf_fs.exists to speed up; fix comments (#259) * [fix] roboverse_learn/eval.py use correct action format (#260) * Bug/fix action interface (#256) * [add] github issue template (#262) * [add] isaaclab support segmentation output in camera state (#264) * [add] feature to isaacgym that toggle sync viewer by press V (#217) * [bugfix] camera state bug introduced in #264 * add skillblender:walking and rsl_rl wrapper (#218) Co-authored-by: Feishi Wang <feishiwang2001@gmail.com> * Update README.md * update readme * update readme * update readme * update readme * update readme * [fix] isaaclab states not update (#265) * [update] no default camera * Reorganize doc (#266) * [fix] change traj path * [feature] add FastTD3 with config management and MJX support (#243) * [doc] add skillblender_rl.md back (#270) * [doc] add skillblender back (#271) Co-authored-by: Di Fan <difan@Dis-MacBook-Pro.local> * [add] isaacgym support contact sensor * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [add] add dof force to states, supported by isaacgym * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [fix] import sensor state * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [add,fix] add skillblender reaching and h1_wrist_cfg; fix isaacgym (#275) Signed-off-by: weisonweileen <weisonweileen@gmail.com> Co-authored-by: Feishi Wang <feishiwang2001@gmail.com> Co-authored-by: geng-haoran <ghr@berkeley.edu> * [update] github bug report template * [fix] IsaacGym quaternion bugs (#277) * fix isaacgym tensor regresh issue (#278) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * update state_consistency test code, delete isaacgym simulate. update xyzw_to_wxyz code with indexing to avoid latency * [fix] bugs for RL infra and configs caused by multirobots (#279) --------- Signed-off-by: weisonweileen <weisonweileen@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Fisher Wang <feishiwang2001@gmail.com> Co-authored-by: weison_pan <124496507+WeisonWEileen@users.noreply.github.com> Co-authored-by: Haoran Geng <71596067+geng-haoran@users.noreply.github.com> Co-authored-by: geng-haoran <ghr@berkeley.edu> Co-authored-by: Gu Song En <45731193+gusongen@users.noreply.github.com> Co-authored-by: difan1995 <140031348+difan1995@users.noreply.github.com> Co-authored-by: Murphy <167211955+MurphyZhao04@users.noreply.github.com> Co-authored-by: Di Fan <difan@Dis-MacBook-Pro.local>
cheolhong0916
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Aug 28, 2025
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This PR fixesthe RL infra bugs caused by multi-robots. The config files and wrappers for humanoidbench_rl and fast_td3 have been adjusted to account for this change. For now, only consider robots[0] in both environments to ensure training.