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dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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atlas_min and hopper_min don't converge #41

Closed swami1995 closed 1 year ago

swami1995 commented 2 years ago

I was trying to run the examples in examples/trajectory_optimization/ but couldn't get the atlas example and the hopper example to converge.. (the hopper one at least was converging with the RL policy I was training but didn't have much luck with atlas there).. @thowell mentioned that the friction model was changed recently so the trajopt parameters might have to be tuned to get it working again.

janbruedigam commented 1 year ago

The example was removed in the latest version, but the mechanism still exists so people can write their own versions.