)
# returns desired [position, velocity]
target = path_planner.next()
if use_force_control:
# generate an operational space control signal
u = ctrlr.generate(
q=feedback["q"],
dq=feedback["dq"],
target=target[0],
target_velocity=target[1],
)
# apply the control signal, step the sim forward
interface.send_forces(u, update_display=True if count % 20 == 0 else False)
else:
# use position control
interface.send_target_angles(
target[: robot_config.N_JOINTS],
update_display=True if count % 20 == 0 else False,
)
count += 1
finally:
# stop and reset the simulation
interface.disconnect()
print("Simulation terminated...")
)
# returns desired [position, velocity]
target = path_planner.next()
if use_force_control:
# generate an operational space control signal
u = ctrlr.generate(
q=feedback["q"],
dq=feedback["dq"],
target=target[0],
target_velocity=target[1],
)
# apply the control signal, step the sim forward
interface.send_forces(u, update_display=(count % 20 == 0))
else:
# use position control
interface.send_target_angles(
target[:robot_config.N_JOINTS],
update_display=(count % 20 == 0),
)
count += 1
finally:
# stop and reset the simulation
interface.disconnect()
print("Simulation terminated...")
