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Update actuator model params (#141)

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Gregory Jones
2025-11-27 07:51:43 -05:00
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parent a75d8a5123
commit aec17bbc25
1 changed files with 5 additions and 2 deletions
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7
Simulation/SO101/so101_new_calib.xml
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@@ -20,8 +20,11 @@
<default class="sts3215"> <default class="sts3215">
<geom contype="0" conaffinity="0"/> <geom contype="0" conaffinity="0"/>
<joint damping="0.60" frictionloss="0.052" armature="0.028"/> <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 --> <!-- These gains are not a 1-to-1 mapping of the servo gains used in
<position kp="17.8"/> 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>
<default class="backlash"> <default class="backlash">
<!-- +/- 0.5° of backlash --> <!-- +/- 0.5° of backlash -->