hardware frequency

[LiuYiKai6]

Thanks for your work! We are trying to deploy your policy on real go1 robot, but find the frequency so fast with dt=0.005 and decimation=4, may I ask the dt and decimation (may be other frequency parameters) you used on the hardware? thanks!

[chengxuxin]

The actual timestep for the policy is $dt*decimation=0.02s(50Hz)$. So on hardware you do not need to worry about decimation, you can just run your policy at 50Hz. The internal PD controller on the robot will do the decimation part (actually much higher than sim, around 2000Hz) to produce torques.

[Indiasuperman]

@LiuYiKai6 have you deployed the policy into go1? if you can share the work, it helps me a lot