search

erwincoumans / motion_imitation

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
Apache License 2.0
1.13k stars 284 forks source link

How to set the PD gains #63

Closed rohanpsingh closed 3 years ago

rohanpsingh commented 3 years ago

Hi, thanks for sharing this great project with the community.

I wanted to know how did you set the PD gains for the robot? The gains seem to set rather precisely in laikago.py. Did you perform tuning to find these values? And are these values the same for the real robots (MPC controlled and/or the RL controller)?

Thanks again and really hoping you can answer this question!