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Drift when the robot make some steps #22
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Hi @N1ckfm I talked with @mehdi-benallegue and he too agrees with what I told you via email. In I think we won't see this effect if we set |
Hi, I changed in the controller from KinematicInertial to BodySensor, using the LIPMWalking Controller. I see some improvement. But the robot falls in some steps.
What would happen if in both cases I used KinematicInertial instead bodySensor? |
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Okay I see. It would be great if we’re able to make the robot walk with BodySensor + LIPMwalking.
I don’t know what your RL controller is doing. If you’re making the robot walk using KI, there will be some accumulated drift in the robot’s position in any case.
That depends on what exactly you’re trying to do :) If you’re trying to minimize the error between 3D position of real and control robots, it should affect the training IMO. Maybe you can perform your optimization over smaller distances? |
I was able to make BodySensor work. But contrary to what I wrote above, I saw the robot still drifts away from the footsteps. One way to avoid the drift is to reduce the slip between the feet-floor contacts. You can try playing with the
I investigated this a bit today. Turns out this is an old issue and we must get to the bottom of this ASAP. |
I was trying with differents value of solref + solimp + noslip_iterations + friction + codim ever I see this drift. |
Hi, when I tried a LIPM Walking controller, the observed value and control value increase the error for any walking step. The robot look like drift. It happen with HRP4 and with JVRC1.
I was thinking that maybe there is a value that has not been considered in the xml model of the robot that allows a more real behavior, maybe damping? stiffness? because these parameters are usually considered in any XML in the default mujoco robot
I tried different things for example.
noslip_iterations="50"
in the xml fileI tried too with a damping value:
<joint limited="true" damping="20" />
I understand that this drift does not occur in choreonoid but I don't know if that reduces the "realism" of a smooth surface.
In the case of the real HRP4 robot, I don't know how much should be tolerable.
I will apprecite your support for improve the simulation.
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