[hab3_merge] Updates in humanoid controller #1582
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| self.rest_joints = None | ||
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| def set_rest_pose_path(self, rest_pose_path): |
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Why is this a publicly exposed method and the external agent manager is responsible for calling it? Can the KinematicHumanoid object just directly set the rest pose in its own constructor?
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Currently agents can only be passed the urdf_path. Is there a way we can pass more parameters? If so, I would pass the path to the resting pose to the constructor
| @@ -77,6 +77,8 @@ def __init__(self, cfg, sim): | |||
| agent_cfg = cfg.agents[agent_name] | |||
| agent_cls = eval(agent_cfg.articulated_agent_type) | |||
| agent = agent_cls(agent_cfg.articulated_agent_urdf, sim) | |||
| if agent_cfg.motion_data_path != "": | |||
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I prefer not having this added complexity here and keeping the motion_data_path internal to the humanoid components.
dannymcy
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Jul 8, 2024
* updates humanoid * added updated humanoid controller * mobile manipulator now receives agent confnig * updates test
HHYHRHY
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Aug 31, 2024
* updates humanoid * added updated humanoid controller * mobile manipulator now receives agent confnig * updates test
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Motivation and Context
Updates in the humanoid controller. Changes so that the humanoid can have relative offset transformations with a fixed base, needed for path planning with lower foot skating. Updated pytests to support humanoids with skin.
How Has This Been Tested
Ran pytests.
Types of changes
Checklist