NeLy-EPFL / flygym

Simulating embodied sensorimotor control with NeuroMechFly v2

https://neuromechfly.org/

Apache License 2.0

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Fix neck joint drifting bug #183

Closed sibocw closed 4 months ago

sibocw commented 4 months ago

Description

Set stiffness of head joints differently from other non-actuated joints to ensure that the head has minimal passive movements. This, in turn, ensures that the visual inputs do not tilt over time.

Does this address any currently open issues?

182

sibocw commented 4 months ago

@tkclam I will merge this into dev-v1.0.0-pre.3 so that I can further test your advanced vision tutorial. Turns out relying on a 0 target angle using the neck actuator is not enough; neck stiffness needs to be increased anyway. Feel free to review this PR anyway even after merge!