RL-based Adaptive Control of a 3-DOF Robotic Leg for Varying Gravity with Mujoco Physics Simulation#7
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ashton-mitchell wants to merge 24 commits into
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RL-based Adaptive Control of a 3-DOF Robotic Leg for Varying Gravity with Mujoco Physics Simulation#7ashton-mitchell wants to merge 24 commits into
ashton-mitchell wants to merge 24 commits into
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Updated the README to clarify the demo's purpose and installation instructions, and added project background and problem description sections.
Corrected grammatical errors and improved clarity in the README.
Added section on failures under changing gravity with relevant graphs and videos.
hokeun
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Apr 29, 2026
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Very nice work! Thanks!
By the way, I think pycache directories don't need to be pushed to the repo, right? Could you remove those pycache directories?
edwardalee
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Why are the __pycache__ files included in the PR? Aren't these generated files? Also, what are the checkpoints binary files? Are these also generated?
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May 5, 2026
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There are many generated files (and empty files, like __init__.py files. Please remove all generated files. In addition, the convention in LF is that all .lf files need to be within a src directory. Otherwise, lfc does not know where to put the files it generates.
Clarified installation instructions for Lingua Franca CLI tools and updated command examples.
Clarified description of Inverse Kinematics reactor.
Clarified usage of mjpython for running simulations on MacOS and added a link to relevant documentation.
Updated project title and clarified the description of the physical plant using MuJoCo.
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The mujoco-python-rl directory gives a demo for users to see how LF can work with MuJoCo to simulate the control of a 3-DoF leg in Python. This will later be expanded to incorporate PyTorch for training an AC-Network to learn the PID parameters for the control of the leg in varying gravitational environments