Update panda.py

noahfarr · web-flow · commit 0da9c2b57709 · 2025-03-29T00:17:12.000+01:00
diff --git a/mushroom_rl/environments/mujoco_envs/panda.py b/mushroom_rl/environments/mujoco_envs/panda.py
@@ -169,6 +169,7 @@ def setup(self, obs):
         super().setup(obs)
         self._load_keyframe(self._keyframe)
 
+    # Gravity compensation implementation adapted from https://colab.research.google.com/drive/1zlsplgSyk59hxnw3kOJMIxAXuwxXqOHD?usp=sharing
     def get_body_children_ids(self, body_id):
         return [
             i

Original file line number	Diff line number	Diff line change
`@@ -169,6 +169,7 @@ def setup(self, obs):`
`169`	`169`	`super().setup(obs)`
`170`	`170`	`self._load_keyframe(self._keyframe)`
`171`	`171`
	`172`	`+ # Gravity compensation implementation adapted from https://colab.research.google.com/drive/1zlsplgSyk59hxnw3kOJMIxAXuwxXqOHD?usp=sharing`
`172`	`173`	`def get_body_children_ids(self, body_id):`
`173`	`174`	`return [`
`174`	`175`	`i`