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Fix IK Function and Tune Follower MJCF #38

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s1lent4gnt wants to merge 2 commits into perezjln:main from s1lent4gnt:lilkm/fix-ik

s1lent4gnt commented Jan 5, 2025

What this PR about:

Fix IK Function:

Removes the setting of qpos within the IK function across all environments. Directly setting qpos in the simulation is unphysical and interferes with tasks like cube grasping, rendering them impossible.

Enhance Follower MJCF:

Adds kp and kv positional actuator gains to improve control accuracy.
Increases the force range to better handle dynamics.

s1lent4gnt added 2 commits

January 5, 2025 12:34


          fix: remove setting qpos in sim within the IK function

07e8003


          fix: added kp, kv positional actuator gains, increased force range

59dc6ed

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