Hi,
I can’t figure out how to change the initial position of the cartpole. All I can change is the initial velocities. The controllers for changing the position dont seem to load. Do you have an example solution for this exercise?
This cartpole simulation doesnt have position control.
There are other versions in the git that do have control through position but in the given simulation of this unit, only velocity is used.
rostopic list
/cartpole_v0/foot_joint_velocity_controller/command
/cartpole_v0/foot_joint_velocity_controller/pid/parameter_descriptions
/cartpole_v0/foot_joint_velocity_controller/pid/parameter_updates
/cartpole_v0/foot_joint_velocity_controller/state
/cartpole_v0/joint_states
/cartpole_v0/pole_joint_velocity_controller/command
/cartpole_v0/pole_joint_velocity_controller/pid/parameter_descriptions
/cartpole_v0/pole_joint_velocity_controller/pid/parameter_updates
/cartpole_v0/pole_joint_velocity_controller/state
Why did you need the position?
The Exercise 1.5c) is to change the init_pos of the cart so that the angle of the pole is 30 degrees tilted instead of upright. I could not figure out how to do that without position controller. Without them the only solution I could think of would be to change the .urdf files, but I dont think that is the intended solution.