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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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Sim2Real in Go1 #9

Open Kwon-nahyun opened 5 months ago

Kwon-nahyun commented 5 months ago

I am trying to do sim2real on Go1 based on your code. In your code, controller_dt = 0.01 # in sec, but I am curious whether controller_dt was set to 0.01 in the actual robot.

silvery107 commented 5 months ago

Thanks for your interests.

The controller is running at 200 Hz while the mpc solver is running at 40 Hz on real robot.

Kwon-nahyun commented 5 months ago

Thanks to you, I was able to successfully run sim2real on unitree go1. thank you.

silvery107 commented 5 months ago

Congrats! Would you like to contribute to this repo regarding the sim2real transfer?