Steven89Liu

we should clear the jointTorque that is an external force when

1

try to calculate the reaction force caused by the constraint force the second pass.

Can someone help to explain the meaning of the class Tag?

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i have read this part of code many times but still can't understard it. Any info is appreciated. thanks.

differnent states but in same frame will get the same action?

3

As i understand it, the _decide_action will return the action which actually is the desired pos, if i call this function two times in less than 1./30, do i will...

is there any doc or paper that introduce the function of cImpPDController::CalcControlForces()?

3

i don't understand the function of cImpPDController::CalcControlForces(), any idears is appreciated. thanks.