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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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MPC controller example using a new robot #31

Closed nicrusso7 closed 3 years ago

nicrusso7 commented 3 years ago

Hello! I'm trying to run the mpc controller example using a DIY robot.

I was wondering how these values are calculated:

MPC_BODY_MASS MPC_BODY_INERTIA MPC_BODY_HEIGHT

I'm also not sure about _DEFAULT_HIP_POSITIONS. I understood these are the hip joints positions, however they are slightly different if compared with the URDF values (eg. this one)

thanks!

erwincoumans commented 3 years ago

Those values should be similar to the real robot (or URDF file). Since there are sim-to-real differences, they can be tuned to work better on real robot, hence some differences. In the latest revision, the A1 is also included for MPC, both simulation and real robot. See https://github.com/google-research/motion_imitation/pull/30

Good luck, and keep us posted if you have any luck tuning the parameters for your robot!