Torque spike at contact switch (Impulse model)
When generating a quadrupedal gait using the ActionModelImpulseFwdDynamics
for the contact switch, we see torque spikes at the contact switch (using damping of 1e-12
):
The plot shows the control trajectory over the policy, with the control limits shown in red and the locations of ActionModelImpulseFwdDynamics
shown in dashed grey.
Do you have an idea why this could be the case or what we can do to prevent this?