fix(collision guard): hard sim update and identity action #152
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juelg
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Nov 6, 2024
juelg
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- state of the real robot is setted to the sim in a hard way
- support to set hard joint values in sim
- if collision is detected the current robot state is set as action and not no action
- state of the real robot is setted to the sim in a hard way - support to set hard joint values in sim - if collision is detected the current robot state is set as action and not no action
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For backward compatibility with tests there is a default true option which truncates the episode when a collision occurred
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