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The Many Controller Types
Glen edited this page Mar 13, 2018
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There are many types of controllers in this software.
Need to create a table out of this
| Controller name | description | 2d | 3d | state |
|---|---|---|---|---|
| biped3d_step | A controller where the actions and number of actions correspond to the number of links in the simulated controlled character | yes | yes | pos(root_y + (3(rel_pos) + 4(rel_rot) + 3(rel_vel) + 3(rel ang_vel)) * number_of_links,phase(5),end_effector_contacts(2),footstep_plan(13) = 125 |
| biped3d_sym_step | A controller where the actions and number of actions correspond to the number of links in the simulated controlled character. This controller assumes a symmetry in the controller and works by only learning part of the state space that would correspond to only ever taking right steps. When a left step is taking the state is mirrored across the sagittal plane. | yes | yes | pos(root_y + (3(rel_pos) + 4(rel_rot) + 3(rel_vel) + 3(rel ang_vel)) * number_of_links,,phase(3),end_effector_contacts,footstep_plan(7) = 117 |