Use different sets of parameters

Author: rdesarz

examples/example_4_physics_simulation.py

@@ -64,7 +64,7 @@ def get_standard_params() -> typing.Tuple[GeneralParams, PreviewControllerParams
     return general_params, ctrler_params
 
 
-def get_accurate_scenario_params() -> typing.Tuple[GeneralParams, PreviewControllerParams]:
+def get_accurate_sim_params() -> typing.Tuple[GeneralParams, PreviewControllerParams]:
     general_params, ctrler_params = get_standard_params()
 
     # Specific params
@@ -85,11 +85,15 @@ def main():
     p.add_argument("--plot-results", action="store_true")
     p.add_argument("--launch-gui", action="store_true")
     p.add_argument("--record-video", action="store_true")
+    p.add_argument("--accurate-sim", action="store_true")
     args = p.parse_args()
 
     np.set_printoptions(suppress=True, precision=3)
 
-    scen_params, ctrler_params = get_standard_params()
+    if args.accurate_sim:
+        scen_params, ctrler_params = get_accurate_sim_params()
+    else:
+        scen_params, ctrler_params = get_standard_params()
 
     # Initialize Talos pinocchio model
     talos = Talos(path_to_model=args.path_talos_data.expanduser(), reduced=False)