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[CoRL 2022] Efficient Tactile Simulation with Differentiability for Robotic Manipulation
https://people.csail.mit.edu/jiex/papers/TactileSim/index.html
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About the feed-forward term #2

Closed chenwh14 closed 1 year ago

chenwh14 commented 1 year ago

Hello authors, I find that in TactileInsertion environment, a feed-forward term is added to u[2], which corresponds to the commanded gripper height as I think. In other scripts, I also notice that this feed-forward term is hard-coded. Could you please explain why there is a feed-forward term and its physical meanings? Thanks!

eanswer commented 1 year ago

This term is used to compensate the tracking error introduced by the gravity of the robot. Without a feed-forward term, the PD controller will have consistent tracking errors.