Adding new tasks, angular_momentum and contact_force_regularisation
#5
+942
−68
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
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 |
There was a problem hiding this comment.
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()" |
There was a problem hiding this comment.
This is a repetition, there is already the close_visualization afterwards
|
Thanks @akhilsathuluri , I will finalize the review after the merging of #4 , but I added some preliminary comments |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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.