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xbpeng / DeepTerrainRL

terrain-adaptive locomotion skills using deep reinforcement learning
GNU Lesser General Public License v3.0
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out_tau issue #29

Closed wenyijiang closed 7 years ago

wenyijiang commented 7 years ago

In the paper ,there are 21 joints,but when I print the out_tau in ImpPDcontroller ,there are 23 numbers. I want to ask what the other two numbers are about? thanks a lot!

xbpeng commented 7 years ago

The first joint corresponds to the root, which has 3 components, x, y position and a rotation. But since the root is unactuated, those components of out_tau should always be 0.