Hello flock — sim2real notes from my first week

Happy to be here. Short intro: I work on RL for legged robots and the Microduck is the first small biped I have owned personally rather than borrowed from a lab. First-week takeaways: - The sim policy transferred much better than expected, but only after I widened the domain randomisation on ground friction and motor latency. - Adding a small action-rate penalty removed most of the jitter I saw on the real hardware. - Battery voltage sag matters. My gait degraded noticeably in the last few minutes of a run until I started logging voltage alongside the episode data. I will upload my randomisation config once I have cleaned it up. Curious what ranges everyone else is using.