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leggedrobotics / legged_gym

Isaac Gym Environments for Legged Robots
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Sim-to-real Implementation #14

Closed anahrendra closed 2 years ago

anahrendra commented 2 years ago

Hello,

I am wondering if you have any guideline for the sim-to-real deployment. I am planning to deploy the learned policy in the Unitree A1 Robot

Thanks in advance!

nikitardn commented 2 years ago

Hi, sim-to-real deployment is very platform/task specific. You can read our paper to have an idea of what we are doing to ensure a successful transfer.

JeffXu1 commented 2 years ago

Hi,

I'm also trying to deploy learned policies on the Unitree A1 robot. I have successfully done a sim-to-sim transfer (Isaac Gym to PyBullet). For whatever reason, deploying on my real robot is not yet working (the robot's joints reach extreme angles after a few actions). The policy query takes under 4ms, so I imagine latency isn't a huge issue?

I'm curious if anyone else has successfully transferred to a real robot, and is willing to share any overall guidelines, or implementation details. I'd be glad to share my sim-to-sim transfer code if anyone finds it useful.

Thanks Hi，could you share your sim to sim tansrferr code, I 'm also trying to deploy it on the Unitree A1 robot.

hzlbbfrog commented 1 year ago

Hi, I am also trying to do the sim-to-real implementation. I also wonder if someone has made a successful transfer and may post an overall guideline. aiming at the specific plateform or hardware is also helpful! Thank you!