Update Rate and RTF - Githubissues

chvmp / champ

MIT Cheetah I Implementation

BSD 3-Clause "New" or "Revised" License

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Update Rate and RTF #83

Open rachase opened 2 years ago

rachase commented 2 years ago

I am running champ in gazebo 11, and getting a low RTF (around .4), and I have a fairly beefy computer (Intel(R) Xeon(R) W-11855M CPU @ 3.20GHz). Ive tried to change the max sim step to .002, in which case the RTF goes way up, but the robot starts bouncing around. Is it possible to adjust the champs controller to work with a .002 sim step?

grassjelly commented 2 years ago

hi @rachase . May I know what robot and world are you using?

rachase commented 2 years ago

Just the default robot