Closed heartInsert closed 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.
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 ?