Adding new tasks, angular_momentum and contact_force_regularisation#5
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akhilsathuluri wants to merge 3 commits intogbionics:mainfrom
Open
Adding new tasks, angular_momentum and contact_force_regularisation#5akhilsathuluri wants to merge 3 commits intogbionics:mainfrom
angular_momentum and contact_force_regularisation#5akhilsathuluri wants to merge 3 commits intogbionics:mainfrom
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added drakeSimulator class + drake_walking example
| "CONTACT_1", contact_group_right | ||
| ) | ||
| self.angular_momentum_task_parameter_handler.set_parameter_float( | ||
| name="kp", value=10.0 |
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Could you add the gain as an attribute of TSIDParameterTuning.py as done for the CoM
only in the __init__() method for now is fine
| " counter = 0" | ||
| " counter = 0\n", | ||
| "\n", | ||
| "mujoco_instance.close_visualization()" |
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This is a repetition, there is already the close_visualization afterwards
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Thanks @akhilsathuluri , I will finalize the review after the merging of #4 , but I added some preliminary comments |
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I am raising a separate PR for the new tasks, since they need some gain tuning and also for review.
Another purpose of a seperate PR is that this PR, #4, will complete the addition of the drakeSimulator class and the current PR is an optional one to modify the tasks.
But I confirm that with the current commit, the robot walks (albeit shakily) in both drake and mujoco.