Transfer a locomotion policy of a quadruped robot from isaacsim
Posted: 29 Oct 2024, 05:36
Hi there!
Currently I am trying to implement a well-performed locomotion policy onto a quadruped robot (unitree b2), and the robot experienced weird movement. The attempts i tried is as below:
1. URDF, the urdf is from the offical git repository, and i check the imported version, i'm sure there's no issue about the dynamics.
2. the RL policy takes things like joint position, joint velocity, target velocity of base etc as inputs and outputs the target postion of each joint, then calculates the target torque by a pd controller (i copy the params of PD controller from their gazebo demo and it performs well in isaacsim). The robot goes weird when it's in coppeliasim with bullet/mujoco/...
3. based on (2), i tried different param setups and none of those work.
Plus:
1. link of policy: https://www.dropbox.com/scl/fi/yj5nicsl ... 4ne1e&dl=0
2. link to scene https://www.dropbox.com/scl/fi/c611f8q6 ... h0dgy&dl=0
Could someone please help me with this? Thanks!
Currently I am trying to implement a well-performed locomotion policy onto a quadruped robot (unitree b2), and the robot experienced weird movement. The attempts i tried is as below:
1. URDF, the urdf is from the offical git repository, and i check the imported version, i'm sure there's no issue about the dynamics.
2. the RL policy takes things like joint position, joint velocity, target velocity of base etc as inputs and outputs the target postion of each joint, then calculates the target torque by a pd controller (i copy the params of PD controller from their gazebo demo and it performs well in isaacsim). The robot goes weird when it's in coppeliasim with bullet/mujoco/...
3. based on (2), i tried different param setups and none of those work.
Plus:
1. link of policy: https://www.dropbox.com/scl/fi/yj5nicsl ... 4ne1e&dl=0
2. link to scene https://www.dropbox.com/scl/fi/c611f8q6 ... h0dgy&dl=0
Could someone please help me with this? Thanks!