def get_controller(controller_name):
"""
Gets the correct controller from controllers.py
Parameters
----------
controller_name : string
Returns
-------
:obj:`Controller`
"""
if controller_name == 'workspace':
# YOUR CODE HERE
Kp = vec(0, 0, 0, 0, 0, 0)
Kv = vec(.5, .5, .5, 2, 2, 2)
controller = PDWorkspaceVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'jointspace':
# YOUR CODE HERE
Kp = vec(5, 10, 2.5, 7.5, 1.5, 4, 3)
Kv = vec(0.4, 1.6, 0.2, 1.2, .12, .32, .24)
controller = PDJointVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'torque':
# YOUR CODE HERE
Kp = None
Kv = None
controller = PDJointTorqueController(limb, kin, Kp, Kv)
elif controller_name == 'open_loop':
controller = FeedforwardJointVelocityController(limb, kin)
else:
raise ValueError('Controller {} not recognized'.format(controller_name))
return controller
def get_controller(controller_name, limb, kin):
"""
Gets the correct controller from controllers.py
Parameters
----------
controller_name : string
Returns
-------
:obj:`Controller`
"""
if controller_name == 'workspace':
# YOUR CODE HERE
Kp = None
Kv = None
controller = WorkspaceVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'jointspace':
# YOUR CODE HERE
Kp = None
Kv = None
controller = PDJointVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'torque':
# YOUR CODE HERE
Kp = None
Kv = None
controller = PDJointTorqueController(limb, kin, Kp, Kv)
elif controller_name == 'open_loop':
controller = FeedforwardJointVelocityController(limb, kin)
else:
raise ValueError(
'Controller {} not recognized'.format(controller_name))
return controller
def get_controller(controller_name):
"""
Gets the correct controller from controllers.py
Parameters
----------
controller_name : string
Returns
-------
:obj:`Controller`
"""
if controller_name == 'workspace':
# YOUR CODE HERE
Kp = np.array([0.7, 0.5, 0.7, 0.7, 0.7, 0.7])
Kv = np.ones(7) * 0.01
Kv = np.zeros(6)
controller = PDWorkspaceVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'jointspace':
# YOUR CODE HERE
Kp = np.array([0.5, 0.65, 0.65, 0.65, 0.1, 0.1, 0.65])
Kv = np.ones(7) * 0.01
controller = PDJointVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'torque':
Kp = np.array([100, 100, 100, 100, 100, 100, 100]) * 1.5
Kv = np.array([25, 25, 25, 25, 25, 25, 25]) * 0.75
controller = PDJointTorqueController(limb, kin, Kp, Kv)
elif controller_name == 'open_loop':
controller = FeedforwardJointVelocityController(limb, kin)
else:
raise ValueError(
'Controller {} not recognized'.format(controller_name))
return controller
def get_controller(controller_name):
"""
Gets the correct controller from controllers.py
Parameters
----------
controller_name : string
Returns
-------
:obj:`Controller`
"""
if controller_name == 'workspace':
# YOUR CODE HERE
# start pos: [0.5839751304446147, 0.629241775857017, 0.4323214883062389]
Kp = [1., 0.7, 1., 0., 0., 0.]
Kv = [0., 0., 0., 0., 0., 0.]
controller = PDWorkspaceVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'jointspace':
# YOUR CODE HERE
Kp = [0.1, 0.1, 0.1, 0.05, 0.05, 0.05, 0.05]
Kv = [0., 0., 0., 0., 0., 0., 0.]
controller = PDJointVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'torque':
# YOUR CODE HERE
Kp = [20., 20., 20., 10., 10., 10., 5.]
Kv = [5., 3., 5., 3., 1., 1., 1.]
controller = PDJointTorqueController(limb, kin, Kp, Kv)
elif controller_name == 'open_loop':
controller = FeedforwardJointVelocityController(limb, kin)
else:
raise ValueError(
'Controller {} not recognized'.format(controller_name))
return controller
def get_controller(controller_name):
"""
Gets the correct controller from controllers.py
Parameters
----------
controller_name : string
Returns
-------
:obj:`Controller`
"""
if controller_name == 'workspace':
# YOUR CODE HERE
# limb and kin get set in call to main
kp_ind = .1
kv_ind = 0
Kp = np.array([kp_ind, kp_ind, kp_ind, kp_ind, kp_ind, kp_ind]) #1
Kv = np.array([kv_ind, kv_ind, kv_ind, kv_ind, kv_ind, kv_ind])
controller = PDWorkspaceVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'jointspace':
# YOUR CODE HERE
Kp = np.array([1, 1, 1, 1, 1, 1, 1])
Kv = np.array([0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1])
controller = PDJointVelocityController(limb, kin, Kp, Kv)
elif controller_name == 'torque':
# YOUR CODE HERE
kp_ind = 15
Kp = np.array([30, 30, kp_ind, kp_ind, kp_ind, 10, 10])
Kv = np.array([3, 1, 1, 1, 1, 1, 1])
controller = PDJointTorqueController(limb, kin, Kp, Kv)
elif controller_name == 'open_loop':
controller = FeedforwardJointVelocityController(limb, kin)
else:
raise ValueError(
'Controller {} not recognized'.format(controller_name))
return controller