Modeling joint friction in simulation #167
stephane-caron
started this conversation in
Show and tell
Replies: 0 comments
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
-
Since Vulp 2.0.0 we can model joint kinetic friction in simulation, which can help e.g. to train motion control policies that transfer better to the real world. Here is some playing out with various friction coefficients at Upkie's wheel joints:
2023-11-15_upkie_wheel_friction.mp4
Here we are changing the spine configuration directly in the (gin) config of the PPO balancer, which works at runtime but will be overwritten if we re-train. For a more lasting change we would edit
settings.gin
instead.Beta Was this translation helpful? Give feedback.
All reactions