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lauramsmith / fine-tuning-locomotion

Apache License 2.0
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Cannot run in real Unitree A1 #5

Closed anahrendra closed 2 years ago

anahrendra commented 2 years ago

Hi! Thank you for sharing your work.

However, I found some trouble when implementing the MPC to a real A1 robot. It works fine in the first one second, and starts to lose its balance an acted weirdly afterwards.

May I know your computing device to run the MPC?

Thanks in advance!

mashli commented 2 years ago

Hi! Thank you for sharing your work.

However, I found some trouble when implementing the MPC to a real A1 robot. It works fine in the first one second, and starts to lose its balance an acted weirdly afterwards.

May I know your computing device to run the MPC?

Thanks in advance! Dear anahrendra I encountered the same problem. Have you fixed this problem? Thank you!

anahrendra commented 2 years ago

I solved it by using an NUC to run the code. Previously I used the built-in Jetson. Probably its not strong enough to run the MPC in real time

mashli commented 2 years ago

I solved it by using an NUC to run the code. Previously I used the built-in Jetson. Probably its not strong enough to run the MPC in real time Thank you , anahrendra.