Closed hjlllll closed 5 months ago
Hi, the policy outputs and sets the DOF position as the PD controller's target, using gym.set_dof_position_target_tensor. The joint torques are calculated by the PD controller, which is implemented by the system.
Thanks, I got it ,which means the pd controller is implemented by isaacgym. Thanks a lot!
Hi, thanks for your excellent work. I am confused with one question, that is how does the "joint torques" calculated in paper? Because I saw the code use the gym.set_dof_position_target_tensor to control the human.
Thanks you again.