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erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
Apache License 2.0
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missing file for the a1 simulation #19

Closed limbryan closed 4 years ago

limbryan commented 4 years ago

Hi Erwin,

a1_sim.py is missing from the mpc_controller directory. laikago_sim also does not seem to be working from the latest push "AttributeError: module 'mpc_controller.laikago_sim' has no attribute 'URDF_NAME'"

yxyang commented 4 years ago

Same issue with a1_sim.py. The Laikago_sim was working fine for me, and 'URDF_NAME' is indeed in laikago_sim.py.

Erwin: please add in the a1_sim.py. @erwincoumans

erwincoumans commented 4 years ago

Sure, thanks for the report. Added here: https://github.com/google-research/motion_imitation/commit/55f282d1fb9aff94090364548b90e23a97395b52

erwincoumans commented 4 years ago

by the way, I also updated the pypi version, so you can also do 

pip3 install motion_imitation pybullet --upgrade --user
erwincoumans commented 4 years ago

Also, the A1 mpc variables are not very well tuned yet, so after a while it will fall on the heightfield terrain. The flat plane should be fine

Contributions for better mpc tuning are welcome!

There is also a mpc_example using the Laikago with 'envs_v2' style infrastructure here: https://github.com/google-research/motion_imitation/blob/master/motion_imitation/examples/mpc_example.py

Didn't add the A1 to there yet, contributions welcome.

And finally, there is also this repo, with a more interesting environment with a similar mpc controller script: https://github.com/erwincoumans/aws-robomaker-racetrack-world