why you set stiffness=0 damping =0 in config ?

silvery107 / rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion

https://docs.google.com/presentation/d/18bznpYrkCPnhCisySPDz18hvL3Ytere7JiJEbdLvpgU/edit?usp=sharing

MIT License

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why you set stiffness=0 damping =0 in config ? #15

Closed heartInsert closed 2 months ago

heartInsert commented 2 months ago

Hi , bro . Recently I am trying to train a PPO policy in Isaacgym and deploy to AliengoRobot , but I see your stiffness=0 damping =0 , how can you control your robot to move ?

silvery107 commented 2 months ago

Hi,

Joint stiffness and damping are actually simulated by the actuator, so by setting them to zero means we hand over the control authority to joint controller, and stiffness and damping are simulated here by computing PD feedback torques.

Thanks.