Python Bunch.control_manager 예제들

예제 #1

파일: test_balance_ctrl_openhrp.py 프로젝트: cmastalli/sot-torque-control

def get_sim_conf():
    import dynamic_graph.sot.torque_control.hrp2.balance_ctrl_sim_conf as balance_ctrl_conf
    import dynamic_graph.sot.torque_control.hrp2.base_estimator_sim_conf as base_estimator_conf
    import dynamic_graph.sot.torque_control.hrp2.control_manager_sim_conf as control_manager_conf
    import dynamic_graph.sot.torque_control.hrp2.force_torque_estimator_conf as force_torque_estimator_conf
    import dynamic_graph.sot.torque_control.hrp2.joint_torque_controller_conf as joint_torque_controller_conf
    import dynamic_graph.sot.torque_control.hrp2.joint_pos_ctrl_gains_sim as pos_ctrl_gains
    import dynamic_graph.sot.torque_control.hrp2.motors_parameters as motor_params
    conf = Bunch();
    conf.balance_ctrl              = balance_ctrl_conf;
    conf.base_estimator            = base_estimator_conf;
    conf.control_manager           = control_manager_conf;
    conf.force_torque_estimator    = force_torque_estimator_conf;
    conf.joint_torque_controller   = joint_torque_controller_conf;
    conf.pos_ctrl_gains            = pos_ctrl_gains;
    conf.motor_params              = motor_params;
    return conf;

예제 #2

def get_default_conf():
    import dynamic_graph.sot.torque_control.hrp2.inverse_dynamics_controller_gains as inv_dyn_gains
    import dynamic_graph.sot.torque_control.hrp2.base_estimator_conf as base_estimator_conf
    import dynamic_graph.sot.torque_control.hrp2.control_manager_conf as control_manager_conf
    import dynamic_graph.sot.torque_control.hrp2.force_torque_estimator_conf as force_torque_estimator_conf
    import dynamic_graph.sot.torque_control.hrp2.joint_torque_controller_conf as joint_torque_controller_conf
    import dynamic_graph.sot.torque_control.hrp2.joint_pos_ctrl_gains as pos_ctrl_gains
    import dynamic_graph.sot.torque_control.hrp2.motors_parameters as motor_params
    conf = Bunch()
    conf.inv_dyn_gains = inv_dyn_gains
    conf.base_estimator = base_estimator_conf
    conf.control_manager = control_manager_conf
    conf.force_torque_estimator = force_torque_estimator_conf
    conf.joint_torque_controller = joint_torque_controller_conf
    conf.pos_ctrl_gains = pos_ctrl_gains
    conf.motor_params = motor_params
    return conf

예제 #3

파일: main.py 프로젝트: wyngjf/sot-torque-control

def get_default_conf():
    import dynamic_graph.sot.torque_control.hrp2.balance_ctrl_conf as balance_ctrl_conf
    import dynamic_graph.sot.torque_control.hrp2.admittance_ctrl_conf as admittance_ctrl_conf
    import dynamic_graph.sot.torque_control.hrp2.base_estimator_conf as base_estimator_conf
    import dynamic_graph.sot.torque_control.hrp2.control_manager_conf as control_manager_conf
    import dynamic_graph.sot.torque_control.hrp2.current_controller_conf as current_controller_conf
    import dynamic_graph.sot.torque_control.hrp2.force_torque_estimator_conf as force_torque_estimator_conf
    import dynamic_graph.sot.torque_control.hrp2.joint_torque_controller_conf as joint_torque_controller_conf
    import dynamic_graph.sot.torque_control.hrp2.joint_pos_ctrl_gains as pos_ctrl_gains
    import dynamic_graph.sot.torque_control.hrp2.motors_parameters as motor_params
    conf = Bunch()
    conf.balance_ctrl = balance_ctrl_conf
    conf.adm_ctrl = admittance_ctrl_conf
    conf.base_estimator = base_estimator_conf
    conf.control_manager = control_manager_conf
    conf.current_ctrl = current_controller_conf
    conf.force_torque_estimator = force_torque_estimator_conf
    conf.joint_torque_controller = joint_torque_controller_conf
    conf.pos_ctrl_gains = pos_ctrl_gains
    conf.motor_params = motor_params
    return conf