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silvery107 / rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion
https://docs.google.com/presentation/d/18bznpYrkCPnhCisySPDz18hvL3Ytere7JiJEbdLvpgU/edit?usp=sharing
MIT License
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Are you willing to support the sim2real code in python ? Thanks for reply. #18

Closed heartInsert closed 2 months ago

heartInsert commented 3 months ago

Hi, mate , I have deploy my RL model in gazebo and real_robot successfully by ROS . But when I run it in gazebo and real robot , it didn't walk as smoothly as in isaacgym . The whole posture between real robot and isaacgym are very closed. But the position will changed very fast in real robot , I'm not sure if this is related to the controlFrequencyInv ，substeps or num_position_iterations in config ? Did you encounter the same problem like me ?

Thank you for your reply again.

silvery107 commented 2 months ago

Hi,

There could be a lot reasons, but sim2real support is out of the scope of this project.

Thanks and good luck with your project!