[Draft] Support G1 Locomanip#758
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Abhiram824
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Oct 17, 2025
| self.torques = None | ||
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| # External torque compensation | ||
| self.external_torque_compensation = 0 |
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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
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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
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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.