Tuning of robots and costs

tud-airlab / mppi-isaac

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated

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Tuning of robots and costs #14

Closed cpezzato closed 1 year ago

cpezzato commented 1 year ago

~~The tuning of the mppi is a bit off, should be fixed for better performance~~
The cost function for collision avoidance should include contact forces from isaac

cpezzato commented 1 year ago

2823f68c448a9e4594b918fa68c8c87597fe2dae addresses this, but the cost for collision avoidance should be based on contact forces as well, otherwise, we are not able to reach goals that are close to obstacles due to a 'repulsive force' effect.