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Robot Control

This tutorial provides an in-depth introduction to the robot control system in DISCOVERSE, including different control modes, kinematics, trajectory planning, and real-time control.

đŸŽ¯ Learning Objectives​

  • Master all control modes in DISCOVERSE
  • Understand forward and inverse kinematics
  • Learn trajectory planning and smooth control
  • Implement complex robot operation tasks

🎮 Control Modes Explained​

1. Joint Position Control (pd_joint_pos)​

The most basic control mode, directly specifying target joint angles:

import discoverse as dv
import numpy as np

env = dv.make_env("airbot_play", control_mode="pd_joint_pos")
obs = env.reset()

# Get current joint positions
current_qpos = obs["qpos"]  # Current joint angles
print(f"Current joint positions: {current_qpos}")

# Set target joint positions
target_qpos = np.array([0.0, -0.5, 0.0, 1.57, 0.0, 1.0, 0.0])

# Execute control
obs, reward, done, info = env.step(target_qpos)
env.render()

2. Joint Delta Position Control (pd_joint_delta_pos)​

Control joints incrementally, suitable for fine operations: