Skip to content

Update SO101 actuator model params for Mujoco and successful sim-to-real transfer of RL policies #141

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Update SO101 actuator model params for Mujoco and successful sim-to-real transfer of RL policies #141

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 5 additions & 2 deletions Simulation/SO101/so101_new_calib.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,11 @@
<default class="sts3215">
<geom contype="0" conaffinity="0"/>
<joint damping="0.60" frictionloss="0.052" armature="0.028"/>
<!-- For lerobot this are not exactly the motor params as the Kp and Kd not map 1-to-1 thus motor idendification with lerobot Kp=16 and Kd=32 should actually be done -->
<position kp="17.8"/>
<!-- These gains are not a 1-to-1 mapping of the servo gains used in
Lerobot. These position gains and forces were calculated according to
https://github.com/Gregory119/RBE501-RL-arm-project/blob/main/gymnasium_env/README.md,
assuming that the servo proportional gain is set to 16. -->
<position kp="998.22" kv="2.731" forcerange="-2.94 2.94"/>
</default>
<default class="backlash">
<!-- +/- 0.5° of backlash -->
Expand Down