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silvery107 / rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion
https://docs.google.com/presentation/d/18bznpYrkCPnhCisySPDz18hvL3Ytere7JiJEbdLvpgU/edit?usp=sharing
MIT License
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How to change the step frequency? #13

Closed zst1406217 closed 4 months ago

zst1406217 commented 5 months ago

Hello! It is really a great work! When I run MPC controller, I find that the robot's step frequency is very high. I want to know how can I change it, thank you!

silvery107 commented 4 months ago

Thanks for your interests and sorry for my late response.

If you want to change the stepping frequency, try scale up the gait segments in this file, e.g.

self.trotting = OffsetDurationGait(20, 
                    np.array([0, 5, 5, 0], dtype=DTYPE)*2, 
                    np.array([5, 5, 5, 5], dtype=DTYPE)*2, "Trotting")
zst1406217 commented 4 months ago

Thanks a lot for your reply!