Valkyrie

[ommmid]

Description

This pull request adds Valkyrie robot to the Isaac Lab environments. Persona AI tries to stay engaged with the robotics community and open-source projects. To this end, we are making this contribution which includes adding Valkyrie into the NVIDIA asset and its corresponding config files to Isaac Lab envs.

The USD file of Valkyrie robot lives in val_asset repo. For now, I have added an env variable that points to the local path of val_asset at this line. We should fix that with Nucleus directory when Valkyrie is added to asset.

I have created a ManagerBasedEnv for this robot with all the necessary agent and env configurations. The robot can learn to walk in about 20 mins with the current settings and tuned hyper-parameters (NVIDIA GeForce RTX 4090).

Fixes #2455

Type of change

• This change requires a documentation update

Screenshots

Here is a short video of running the trained model:

valkyrie_walking.webm

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

Note:

• Please advise if I need to make any test for this. This is not a feature so I was not sure if any test is needed or not.
• No change in extension.toml is needed