Update SO101 actuator model params for Mujoco and successful sim-to-real transfer of RL policies #141
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I ran into problems with sim-to-real transfer of a reinforcement learning policy I trained for the SO101 arm in Mujoco. I found that the parameters used in the
<position>element are incorrect. I updated these using a script I wrote based on equations derived from a DC motor (see details here), which I successfully used for sim-to-real transfer.