Is the ankle kp = 15 a typo or a feature?

roboterax / humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

https://sites.google.com/view/humanoid-gym/

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Is the ankle kp = 15 a typo or a feature? #5

Closed cyoahs closed 3 months ago

cyoahs commented 3 months ago

Hello!

In the config file I found that kp = 15 and kd = 10 for the ankles. The kp/kd pair seems mismatching compared to other joints. Is it a typo for kp = 150 or an intentional design?

wangyenjen commented 3 months ago

Hi @cyoahs ,

Thank you for carefully reading our open-source code. It's not a bug. The difference in magnitude of ankle PD can be seen in the legged_gym part of many humanoid robots' open-source code. : )