James Tigue
James Tigue
Converted to a draft util ready for full review. @ozhanozen i will continue to work with you on this branch. Thanks for doing this!
Thanks @ozhanozen, things are looking pretty good. I will give them a review. As for you questions: - Force target: Maybe spawn the robot in a pose and have it...
@ozhanozen thanks for all you hard work. I will take a look and get back with reviews.
> > * Force target: Maybe spawn the robot in a pose and have it press into a plane with a desired force and check steady state torques (minus gravity...
> @Mayankm96, I also wanted to ping you here as you wrote the original OPC implementations. > > I have made some changes to the implementation and wanted to ensure...
> For 5, adding joint level damping might work for the tests but it is eventually undesired for sim2real as this damping is not available in the real robot. Also,...
Thanks @ozhanozen. I will review the code as it is currently and when #966 is merged I will let you know.
@pascal-roth we have been playing around with it here. I poked everywhere I could think in terms of the math and that all seems correct. After that we started to...
@pascal-roth nice did the get_accelerations come with the new Isaac Sim release? Also I found an issue with why the previous method wasn't working. The get_velocities returns the velocity at...
> the main issue for me is currently still the acceleration errors; even the angular acceleration is really off which then also negatively effects the linear accelerations. > > In...