Using Robot Controllers
Contents
Using Robot Controllers#
In this page, we are going to give a quick go through of all the controllers we have implemented and how to use them. Here is a summary table for different controllers.
| Example scripts | Controllers |
|---|---|
| examples/osc_control.py | OSC_POSE OSC_POSITION OSC_YAW |
| examples/joint_position_control.py | JOINT_POSITION |
| examples/joint_impedance_control.py | JOINT_IMPEDANCE |
Run OSC Controllers#
In this example, we will run different variants of OSC controllers with a fixed sequence of control commands.
OSC_POSE#
python examples/osc_control.py --controller-type OSC_POSE
OSC_POSITION#
python examples/osc_control.py --controller-type OSC_POSITION
OSC_POSITION#
python examples/osc_control.py --controller-type OSC_YAW
Run Joint Space Controllers#
JOINT_IMPEDANCE#
python examples/joint_impedance_control.py
JOINT_POSITION#
python examples/joint_position_control.py