add dummy link

aimclub · Aug 11, 2024 · 7fb3cbc · 7fb3cbc
1 parent 524662a
commit 7fb3cbc
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Showing 3 changed files with 168 additions and 87 deletions.
diff --git a/rostok/block_builder_chrono/blocks_utils.py b/rostok/block_builder_chrono/blocks_utils.py
@@ -72,8 +72,8 @@ def evaluate(self, time, rest_angle, angle, vel, link):
             torque: torque, that is created by spring
         """
         torque = 0
-
-        torque = -self.spring_coef * (angle - rest_angle) - self.damping_coef * vel
+        if self.spring_coef > 10**-5:
+            torque = -self.spring_coef * (angle - rest_angle) - self.damping_coef * vel
             # if angle <= 0:
             #     torque = -self.spring_coef * (angle - rest_angle) - self.damping_coef * vel
             # else:

diff --git a/rostok/criterion/simulation_flags.py b/rostok/criterion/simulation_flags.py
@@ -507,7 +507,7 @@ def __init__(self):
         super().__init__()
 
     def event_check(self, current_time: float, step_n: int, robot_data: Sensor, env_data: Sensor):
-        if step_n == 0:
+        if step_n <=3:
             n_contacts = env_data.get_amount_contacts()
             if n_contacts[0] > 0:
                 return EventCommands.STOP