Aric
Aric
> now can work when >400 demos(simple pick&place task, which can also work when using Diffusion Policy), we simply optimized our inference codes. Hi! Great to hear it works with...
> @ksiegall hello, I'm facing the similar problem with hand-craft reward function. While it seems not very easy to locate to problem ? I've found the `env.scene[asset_cfg.name].data.joint_pos` is all the...
> I notice the initial state seems wrong(my cabinet fall into the ground), did you face the same problem? no, my cabinets seems good
> all right ,does it matter if the mass is 0 ? i have another env with all the link parts following mass>0 , and there is still nan data...
> Adding code `actions = torch.clip(actions, min=-6.28, max=6.28)` before `env.step(actions)` seems to help. And it is better to add a penalty to actions to prevent the actor model from outputting...
i find the issue may caused by bad urdf file. My old env is with a KUKA IIWA robot arm and a robotiq 2f gripper, though this urdf can run...
> Does the problematic URDF contain different joints? Sure, the URDF was converted to a USD file(by the isaac sim provided tool) and be used in the RL training