[Draft] Support G1 Locomanip #758
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Abhiram824
reviewed
Oct 17, 2025
| self.torques = None | ||
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| # External torque compensation | ||
| self.external_torque_compensation = 0 |
Member
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Sorry if I am missing something, but right now it looks like there isnt any way to pass in any custom value for external_torque_compensation right?
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G1 will use this flag to make sure that the gravity compensation is the same between sim and real.
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But how will you set the value of the flag? right now it seems like there is no way to pass in any values to the class?
Abhiram824
reviewed
Oct 17, 2025
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| self.desired_torque_as_acceleration = kwargs.get("desired_torque_as_acceleration", True) | ||
| self.use_torque_compensation = kwargs.get("use_torque_compensation", True) | ||
| self.use_external_torque_compensation = kwargs.get("use_external_torque_compensation", False) |
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would it be possible to add in desired_torque_as_acceleration and use_external_torque_compensation as parameters instead of using the **kwargs?
Abhiram824
reviewed
Oct 17, 2025
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What this does
How it was tested
The G1 locomanip repo will be open-sourced soon. It will include unit test for these features.