-
Notifications
You must be signed in to change notification settings - Fork 64
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
gait frequency faster than mocap data #25
Comments
Hi @BruceXing24, maybe it's just a matter of Also, can you share your repo ? I would love to take a look at your config. Thanks ! |
Hello @apirrone, thanks for your response. What I set in mujoco is |
@apirrone @BruceXing24 check your decimation matching as well between mujoco and isaac. Because in isaac it could be env.dt=sim.dt*decimation(it's basically frequency on which you querying policy). Regarding different velocity control, it depends on your data if it covers the whole range of velocities and motions. If not, it struggles to extrapolate to unseen velocities. |
@kaydx1 I generated motion reference for walking forward and turning left and right so it covers the velocity control I set in my tests. |
yes, I found my ref didn't cover full velocity range |
@apirrone @BruceXing24 Hello, I have the same problem that faster gait frequency. I am sure there is no problem with dt. Have you solved it? |
hi, everyone. I use this framework to train my robot. I got a nice policy in running and verity in mujoco then validate in real robot. For walking works in issac and mujoco but perform terrible in real robot
But I found some questions.
I try walk, run and jump, they all works in mojuco, buy their gait frequency are much faster than the mocap data I give, maybe double or triple.
even though the lin_vel and angular reward are much bigger than others, but I can just control the speed a little or just doesn't work at all, same for the direction.
You can go through my video, it shows the robot executable its skill in a very fast frequency
walk.mp4
20240812-143314.mp4
20240812-143318.mp4
The text was updated successfully, but these errors were encountered: