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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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The quadruped robot swings violently in the real environment. #53

Closed COST-97 closed 3 years ago

COST-97 commented 3 years ago

Hello. I trained a RL algorithm on A1, which performs well in the simulation environment. I used the file modified from whole_body_controller_example.py to achieve this algorithm in reality, but the quadruped robot swings very sharply. Some parameters are as follows: p = bullet_client.BulletClient(connection_mode=pybullet.DIRECT) robot = a1_robot.A1Robot(pybullet_client=p, urdf_filename="envs/a1/urdf/a1.urdf", enable_action_interpolation=True, action_repeat=8, time_step=0.0025) Could you give me some suggestions? Thank you very much.

erwincoumans commented 3 years ago

We can't support real hardware, closing.