Table of content:

Preparing transfer to real world

The different learning experiments done last section were done with a environment time step of 50 ms, which is the minimum period at which we can control and observe all servomotors.

As explained in observation vector comparisons, all the simulation observation is observable in the real world. No need to implement the direct mechanics to compute the position of the fingertip.

Each environment got it “real world” equivalent, that will not use PyBullet and will not be able to compute a reward.