fix: imu_omega shape inconsistency, duplicate SDK import, task_registry cleanup by dcol91863 · Pull Request #87 · unitreerobotics/unitree_rl_gym

dcol91863 · 2026-02-18T23:12:52Z

Summary

Four independent fixes found during a second audit pass.

1. `ang_vel` shape inconsistency + `imu_omega[0]` wrong indexing (paired)

Files: deploy/deploy_real/deploy_real.py · deploy/deploy_real/common/rotation_helper.py

deploy_real.py line 162 created ang_vel with shape (1, 3) due to an extra list wrapper:

# Before — shape (1, 3)
ang_vel = np.array([self.low_state.imu_state.gyroscope], dtype=np.float32)

# After — shape (3,)
ang_vel = np.array(self.low_state.imu_state.gyroscope, dtype=np.float32)

rotation_helper.py compensated with imu_omega[0] (extracting the inner row), but this masked the issue rather than fixing it. In the pelvis-IMU path (G1, which skips transform_imu_data), ang_vel remained shape (1, 3), causing a latent shape mismatch when it was multiplied by ang_vel_scale and assigned into obs[:3].

The two changes go together:

deploy_real.py: remove outer [...] so ang_vel is always shape (3,)
rotation_helper.py: change imu_omega[0] → imu_omega to rotate the full 3-vector

2. Duplicate `ChannelFactoryInitialize` import

File: deploy/deploy_real/deploy_real.py

# Before — imported twice from the same module
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize

# After — merged into one line
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber, ChannelFactoryInitialize

3. `task_registry.py` unused imports removed

File: legged_gym/utils/task_registry.py

import numpy as np — np is never referenced anywhere in the file
import sys — sys is never referenced anywhere in the file
Fixed docstring typo namme → name (appeared in both make_env and make_alg_runner)

4. Docstring typo in `_resample_commands`

File: legged_gym/envs/base/legged_robot.py

'Randommly' → 'Randomly'

Test plan

Deploy H1 (torso IMU path): confirm transform_imu_data returns a (3,) angular velocity vector as before
Deploy G1 (pelvis IMU path): confirm ang_vel is shape (3,) and obs[:3] assignment works correctly
Verify task_registry.make_env() and make_alg_runner() still work after removing the unused imports

…or heightfield/trimesh Closes unitreerobotics#81 The `_update_terrain_curriculum(env_ids)` method was referenced in the docstring of `reset_idx` but was never implemented, making terrain curriculum training a no-op even when `cfg.terrain.curriculum = True`. Changes ------- legged_gym/envs/base/legged_robot.py: 1. _get_env_origins() — heightfield / trimesh branch (new) Previously the method only created a flat grid regardless of terrain type, so `custom_origins` was always False and robots were never placed on the actual heightfield platforms. Now: - Sets `custom_origins = True` for heightfield and trimesh terrains. - Converts `terrain.env_origins` (numpy, rows=levels, cols=types) to a GPU tensor `self.terrain_origins` for fast index lookups. - Assigns each environment a random terrain type (column). - Initialises each environment to a random level in [0, max_init_terrain_level]. - Sets `self.env_origins` from the lookup table. 2. _update_terrain_curriculum(env_ids) — new method Promotes robots that traversed more than half a platform length (env_length / 2) during the episode to the next harder level, and demotes robots that fell short by one level. Levels are clamped to [0, num_rows - 1]. env_origins is refreshed for the reset envs. The method is a no-op on the very first call (before init_done) so the initial level assignment from _get_env_origins is preserved. 3. reset_idx() — wired up Added call to `_update_terrain_curriculum(env_ids)` when `cfg.terrain.curriculum` is True (placed before robot repositioning so the updated origin is used immediately). Also logs the mean terrain level to `extras["episode"]["terrain_level"]` for monitoring.

@AbstractMethod

…terrain, helpers, BaseTask ABC Fixes found during a broad audit of the codebase. Each change is independent; grouped here to avoid PR noise. --- legged_gym/envs/base/legged_robot.py _push_robots() velocity corruption (critical) - The previous code wrote random XY velocities into self.root_states[:] (all num_envs rows) but only committed push_env_ids rows back to the simulator. This left stale random values in the root_states tensor for non-pushed environments, corrupting base_lin_vel / base_ang_vel observations on the same step. - Fix: index the write with push_env_ids, matching the indexed set call. Duplicate / unused imports removed - LEGGED_GYM_ROOT_DIR was imported twice (lines 1 and 14). - envs (line 1), WarningMessage (line 3), and Tensor (line 11) were imported but never referenced anywhere in the file. --- deploy/deploy_mujoco/deploy_mujoco.py + configs/{g1,h1,h1_2}.yaml Missing max_cmd factor — sim2real observation mismatch (critical) - deploy_real builds cmd obs as: cmd * cmd_scale * max_cmd - deploy_mujoco built it as: cmd * cmd_scale (max_cmd missing) - The policy was trained with the former, so the MuJoCo deployment was feeding a different numerical range for the command slice, leading to degraded or incorrect behaviour. - Fix: read max_cmd from config and apply it; add max_cmd field to all three MuJoCo YAML configs (values match deploy_real configs). --- legged_gym/utils/terrain.py selected_terrain() three bugs fixed - length= was set to width_per_env_pixels instead of length_per_env_pixels, producing square sub-terrains even when env_length != env_width. - vertical_scale= and horizontal_scale= referenced self.vertical_scale / self.horizontal_scale, attributes that do not exist on Terrain; the correct references are self.cfg.vertical_scale / self.cfg.horizontal_scale (consistent with how make_terrain() accesses the same values). - eval(terrain_type)(terrain, **self.cfg.terrain_kwargs.terrain_kwargs) had a double .terrain_kwargs; changed to **self.cfg.terrain_kwargs. curiculum → curriculum spelling fix - Method name curiculum() and its call site corrected to curriculum(). --- legged_gym/utils/helpers.py get_load_path() bare except and month-boundary sort bug - Bare except: caught all exceptions including KeyboardInterrupt and MemoryError, swallowing the original error and replacing it with a misleading message. Now uses except OSError and chains the cause. - Empty-directory case was an IndexError (runs[-1]) silently converted to the same misleading message; now checked explicitly. - Lexicographic sort breaks at month/year boundaries (e.g. Oct > Nov alphabetically). Now sorts by mtime so the most-recent run is always picked correctly regardless of name format. --- legged_gym/envs/base/base_task.py BaseTask should be abstract - BaseTask had reset_idx() and step() that raised NotImplementedError at runtime. A subclass that forgot to implement either would only fail when the method was actually called. - Added ABC base class and @AbstractMethod decorators so Python raises TypeError at instantiation time instead.

… H1/H1_2/G1 env files The three humanoid robot environments (H1, H1_2, G1) were near-complete copies of each other — 10 methods, ~120 lines, were pasted verbatim in every file. The only code that legitimately differed was the hip-joint DOF indices used in _reward_hip_pos(). Changes ------- legged_gym/envs/base/humanoid_robot.py (new file) Introduces HumanoidRobot(LeggedRobot) — a shared base class that owns: - _init_foot() / _init_buffers() (rigid-body foot state setup) - update_feet_state() (per-step foot state refresh) - _post_physics_step_callback() (gait phase computation) - _get_noise_scale_vec() (observation noise scaling) - compute_observations() (obs + privileged_obs assembly) - _reward_contact() (phase-gated contact reward) - _reward_feet_swing_height() (swing foot height penalty) - _reward_alive() (constant survival reward) - _reward_contact_no_vel() (contact-while-moving penalty) - _reward_hip_pos() (uses self.hip_indices — set per subclass) legged_gym/envs/h1/h1_env.py legged_gym/envs/h1_2/h1_2_env.py legged_gym/envs/g1/g1_env.py Each reduced to a 3-line subclass that sets hip_indices. Zero behaviour change — the logic is identical, just deduplicated. legged_gym/scripts/play.py Removed duplicate imports of sys and LEGGED_GYM_ROOT_DIR (lines 1-5 contained each import twice). Removed unused RECORD_FRAMES and MOVE_CAMERA variables (set in __main__ but never read anywhere). legged_gym/envs/base/legged_robot_config.py + legged_gym/utils/terrain.py Corrected long-standing spelling mistake: slope_treshold → slope_threshold (both the config field definition and the call site in terrain.py).

deploy/deploy_real/deploy_real.py + deploy/deploy_real/common/rotation_helper.py ang_vel shape inconsistency fixed (paired change) deploy_real.py line 162 constructed ang_vel as: np.array([self.low_state.imu_state.gyroscope], dtype=np.float32) The extra list wrapper produced shape (1, 3) instead of (3,). This was masked in the torso-IMU path by rotation_helper.py using imu_omega[0] to extract the inner (3,) row, but left ang_vel with shape (1, 3) in the pelvis-IMU path (G1), causing a latent shape mismatch in subsequent ops. Fix (two changes that must go together): - deploy_real.py: remove the outer [...] so ang_vel is always shape (3,) - rotation_helper.py: change imu_omega[0] → imu_omega so the full 3-element vector is rotated, not just one scalar element deploy/deploy_real/deploy_real.py Duplicate import of ChannelFactoryInitialize merged Lines 7-8 both imported ChannelFactoryInitialize from the same module. The two separate from-import lines have been merged into one. legged_gym/utils/task_registry.py - Removed unused imports: numpy (np) and sys — neither is referenced anywhere in task_registry.py - Fixed docstring typo: 'namme' → 'name' (appeared twice, in make_env and make_alg_runner) legged_gym/envs/base/legged_robot.py - Fixed docstring typo in _resample_commands: 'Randommly' → 'Randomly'

claude added 4 commits February 18, 2026 12:36

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fix: imu_omega shape inconsistency, duplicate SDK import, task_registry cleanup#87

fix: imu_omega shape inconsistency, duplicate SDK import, task_registry cleanup#87
dcol91863 wants to merge 4 commits intounitreerobotics:mainfrom
dcol91863:fix/more-bugs

dcol91863 commented Feb 18, 2026

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dcol91863 commented Feb 18, 2026

Summary

1. ang_vel shape inconsistency + imu_omega[0] wrong indexing (paired)

2. Duplicate ChannelFactoryInitialize import

3. task_registry.py unused imports removed

4. Docstring typo in _resample_commands

Test plan

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1. `ang_vel` shape inconsistency + `imu_omega[0]` wrong indexing (paired)

2. Duplicate `ChannelFactoryInitialize` import

3. `task_registry.py` unused imports removed

4. Docstring typo in `_resample_commands`