fix(g1_env): apply gravity compensation torques in queue_action #20
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queue_action() previously always sent body_tau=zeros, ignoring the enable_gravity_compensation flag. Now computes and applies gravity feedforward torques when enabled, improving arm tracking accuracy. Also adds unit test to prevent regression.
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@xdaNvidia and @Dingry, PTAL. |
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Hi,
Thanks for this repo, we are building something interesting upon this. And we find one mirror bug here:
queue_action() previously always sent body_tau=zeros, ignoring the enable_gravity_compensation flag. Thus, if we want to grasp sth, the hand will always have some offsets.
Aka, the
--enable-gravity-compensation --gravity-compensation-joints left_armseems not working.Now computes and applies gravity feedforward torques when enabled, improving arm tracking accuracy.
Also adds unit test to prevent regression.