Open madan-pi-TRI opened 1 year ago
This PR implements two cost functions: 1) for penalizing joint positions outside joint limits and 2) for penalizing high contact forces. The second function is implemented by penalizing high magnitude signed distances.
This change is
This PR implements two cost functions: 1) for penalizing joint positions outside joint limits and 2) for penalizing high contact forces. The second function is implemented by penalizing high magnitude signed distances.
This change is