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wyhuai / PhysHOI

Official code release for the paper "PhysHOI: Physics-Based Imitation of Dynamic Human-Object Interaction"
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pd control #4

Closed hjlllll closed 5 months ago

hjlllll commented 5 months ago

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.

wyhuai commented 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.

hjlllll commented 5 months ago

Thanks, I got it ,which means the pd controller is implemented by isaacgym. Thanks a lot!