The quadruped robot swings violently in the real environment.

[TOLL97]

Hello.
I trained a RL algorithm on A1, which performs well in the simulation environment.
I used the file modified from whole_body_controller_example.py to achieve this algorithm in reality, but the quadruped robot swings very sharply.
Some parameters are as follows:
p = bullet_client.BulletClient(connection_mode=pybullet.DIRECT) robot = a1_robot.A1Robot(pybullet_client=p, urdf_filename="envs/a1/urdf/a1.urdf", enable_action_interpolation=True, action_repeat=8, time_step=0.0025)
Could you give me some suggestions?
Thank you very much.

[erwincoumans]

We can't support real hardware, closing.