question about the "Deployment on Crazyflie 2.1" experiment

[Gloriabhsfer]

Hi, Thank you for the nice work. I have noticed that your tutorial has a sim2real project that is trained with crazyfile 2.1. Because the crazy file(crazyswarm) is developed based on the gazebo, and you are training the rate controller. I wonder if I can use the gazebo as my test environment to test whether the trained rate controller is useful to a real drone. Firstly, I trained the track task with hummingbirds in your code, then obtained gazebo's drone state and packed them to tensordict. Then passed them to the trained network. But the result is not work and I have noticed that you mentioned you have done some domain randomization. It's very hard for me to follow the controller cause I don't know the specific unit and I don't know if I need to do some unit transform for gazebo data. Could you please tell me some details about this experiment if possible? Thanks a lot. Gloria