I would like to retrain the actuator net to be using a p_gain=30 and a slightly higher d_gain. The defaults have an amazing spring to them but not great for some of my motion captured gaits. I have LCMAgent all set up and working. I am assuming it can capture the data live from the agent. How do I set this up and what kinds of movements should it make to get the best data for training?
Thanks for taking the time to answer these questions. I am so close to getting it all my NN up and running on the Go1.
Robokan
commented
1 year ago
I would like to retrain the actuator net to be using a p_gain=30 and a slightly higher d_gain. The defaults have an amazing spring to them but not great for some of my motion captured gaits. I have LCMAgent all set up and working. I am assuming it can capture the data live from the agent. How do I set this up and what kinds of movements should it make to get the best data for training?
Thanks for taking the time to answer these questions. I am so close to getting it all my NN up and running on the Go1.