ZhengyiLuo / PULSE

Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based Control
https://www.zhengyiluo.com/PULSE
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关于力控方法control_mode: "isaac_pd" #13

Open Anonnyyy opened 2 weeks ago

Anonnyyy commented 2 weeks ago

您好!感谢分享! 1.我看到目前计算关节扭矩的方法("isaac_pd")是将action decoder后得到期望关节位置,调用gym的内部方法gym.set_dof_position_target_tensor(self.sim, pd_tar_tensor)实现控制,而不是自行计算扭矩。请问我理解的是否正确? 2.另外,看到code里提供了"pd"、''force"等计算扭矩的方法,请问是可以使用的吗?是否需要额外步骤?我将"isaac_pd"更改为"pd"后,机器人无法完成控制、会摔倒。

ZhengyiLuo commented 2 weeks ago
  1. Yes.
  2. If you use those control method, the police needs to be retrained (starting from PHC).