Exposed function get_joint_motor_torques with unit tests #1585
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Skylion007
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Dec 3, 2021
Skylion007
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aclegg3
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Dec 3, 2021
| * | ||
| * @return Array of torques on each joint | ||
| */ | ||
| std::vector<float> getJointMotorTorques(double fixedTimeStep); |
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Also add the param documentation here so the web doc generation will pick it up.
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@aclegg3 We would need to add these two new calls to the JS binding then as well.
Skylion007
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Dec 4, 2021
src/esp/physics/ArticulatedObject.h
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| /** | ||
| * @brief Get the torques on each joint | ||
| * | ||
| * @return Array of torques on each joint |
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Technically returns a vector of torques. You can return an array and it will be converted by PyBind11 as a numpy array
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I think I've addressed all the issues! Lmk what you think. (For some reason this pylint is failing on GitHub but is fine locally) |
aclegg3
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Dec 9, 2021
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Skylion007
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Jan 18, 2022
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
aclegg3
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Jan 21, 2022
Co-authored-by: Alexander Clegg <alexanderwclegg@gmail.com>
Skylion007
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Jan 25, 2022
aclegg3
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Jan 25, 2022
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Looks good. Thanks for your contribution, @SimarKareer!
When the tests pass, good to squash-merge. 🎉
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Motivation and Context
This change allows a user in python to get the torques applied by each joint motor. Currently only implemented for non-spherical joints. I exposed this so I could implement a reward function which relies on joint torques.
How Has This Been Tested
I added test cases in tests/test_physics.py. Specifically I moved motors and ensured that the torque values were sufficiently high. Then after the motors reached their target I ensured that torques were sufficiently low.
Types of changes
Checklist