Hi all! I’m new here (and to robotics in general), so excuse the sloppy terminology/ concepts.
Okay, so I am attending an Applied Reinforcement class this semester (graduate level, of course,) and the class project includes choosing a robot (can be a poppy) and demonstrating a rather non-trivial RL application with it.
Now, (as ambitions and/or naive I am,) I was thinking of doing something like making the poppy humanoid stand or maybe even poppy bipedal walking. But after a quick surf through this forum it seems like that would be borderline impossible.
I have the following questions in order to consider using the poppy humanoid for my project:
1) Is it possible to have torque control for the poppy (so far, I have only seen position) ?
2) Can we read torque off of the sensors (again, THIS link says no, but I wanted to confirm if there have been any updates ever since) ?
3) Is there anything else that I should know before considering the poppy for a RL project (bipedal walk or just making it stand).
P.S. Sorry if these questions are a little too trivial!