Thanks for sharing the code. It is easy to understand and run. I was trying to run the swing up pendulum task with the code and my current impression is that when the system is under-actuated (small torque), PCC is not able to reach the goal (balancing in the upright position). The presented video seems to use quite some torque to swing up the pendulum. I do not see this happen in my experiments. Do you have any guidance on making PCC work in this setup? My expectation is that it will swing left-right several times with increasing height before it is able to balance it around the top position. Many thanks!
Thanks for sharing the code. It is easy to understand and run. I was trying to run the swing up pendulum task with the code and my current impression is that when the system is under-actuated (small torque), PCC is not able to reach the goal (balancing in the upright position). The presented video seems to use quite some torque to swing up the pendulum. I do not see this happen in my experiments. Do you have any guidance on making PCC work in this setup? My expectation is that it will swing left-right several times with increasing height before it is able to balance it around the top position. Many thanks!