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The PD control force is contained in passive force? #3

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lz1oceani opened this issue May 19, 2020 · 1 comment
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The PD control force is contained in passive force? #3

lz1oceani opened this issue May 19, 2020 · 1 comment

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@lz1oceani
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After we call drive_target_drive, how to get the scale of the control force?
@fbxiang
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fbxiang commented May 26, 2020

The drive is implicitly integrated into the simulation, so the force is actually changing even in 1 time step. You can you use the usual PD controller to compute the initial force.

@fbxiang fbxiang closed this as completed May 26, 2020
fbxiang added a commit that referenced this issue Oct 11, 2021
@fbxiang
fix issue #3 (needs testing)
4b1419c
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@lz1oceani @fbxiang