Hi,
we need to implement our own controller for our quadruped.
We are currently using the “apply_action” method of our ArticulationView. This results in a less stable controller for the same stiffness and damping values and using angular drives. We think this is because the angular drive is implemented as a continuous controller and is therefore solved implicitly in the solver.
Are there any more stable ways to implement a discrete controller?
Hence I think it is reasonable to expect a more stable controller when using the drives than using a custom controller. We also have a very stiff system, so we should go with an implicit approach. Are there any ways to create a custom implicit controller?
