Recently I ‘ve found out this amazing project to enhance sim 2 real transfer. Well reviewed your code and I have some question that you guys have done for sim 2 sim framework.
First of all, I also tested sim 2 sim transfer with my own robot model(ledgged based robot), however I ve found out that It is really hard to safely control the robot on different simulation because physics engine differes I guess. Is there specific way to enhance sim 2 sim transfer(Isaac orbit to Mujoco) or any idea how to reduce the gap between different simulation.
I’m also wondering that you guys have different control term on Isaac gym environment(following the code). One is the dynamic randomization term and the other is PD control term. Which one did you use to train the policy?
Dear author.
Recently I ‘ve found out this amazing project to enhance sim 2 real transfer. Well reviewed your code and I have some question that you guys have done for sim 2 sim framework.
First of all, I also tested sim 2 sim transfer with my own robot model(ledgged based robot), however I ve found out that It is really hard to safely control the robot on different simulation because physics engine differes I guess. Is there specific way to enhance sim 2 sim transfer(Isaac orbit to Mujoco) or any idea how to reduce the gap between different simulation.
I’m also wondering that you guys have different control term on Isaac gym environment(following the code). One is the dynamic randomization term and the other is PD control term. Which one did you use to train the policy?
Huge thanks to your open soure library again :)