Minor

controllers.py

@@ -7,8 +7,8 @@ class CartesianPoseController:
         self.x_d = x0
         self.kp = np.ones(6) * 5.0
 
-    def set_target(self, x_d):
-        self.x_d = x_d
+    def set_target(self, pose):
+        self.x_d = pose
 
     def update(self, q, dq):
         x = self.model.pose(q)

run_demo.py

@@ -6,7 +6,6 @@ from robot_sim import *
 from utils import *
 
 
-# parameters
 gui = True
 dt = 1.0 / 60.0
 
@@ -22,7 +21,6 @@ controller = CartesianPoseController(model, x0)
 
 marker = InteractiveMarkerWrapper("target", "panda_link0", x0)
 
-# run the control loop
 while True:
     controller.set_target(marker.pose)
     q, dq = env.arm.get_state()