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https://github.com/bulletphysics/bullet3
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add example comparing explicit PD control (Python), explicit PD control (plugin), position constraint and stable PD control (Python)
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erwincoumans
parent
69321a9ee6
commit
78de1f070f
@ -1,26 +1,49 @@
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import pybullet as p
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from pdControllerExplicit import PDControllerExplicit
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from pdControllerExplicit import PDControllerStable
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import time
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useMaximalCoordinates=False
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p.connect(p.GUI)
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pole = p.loadURDF("cartpole.urdf", useMaximalCoordinates=useMaximalCoordinates)
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for i in range (p.getNumJoints(pole)):
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pole = p.loadURDF("cartpole.urdf", [0,0,0], useMaximalCoordinates=useMaximalCoordinates)
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pole2 = p.loadURDF("cartpole.urdf", [0,1,0], useMaximalCoordinates=useMaximalCoordinates)
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pole3 = p.loadURDF("cartpole.urdf", [0,2,0], useMaximalCoordinates=useMaximalCoordinates)
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pole4 = p.loadURDF("cartpole.urdf", [0,3,0], useMaximalCoordinates=useMaximalCoordinates)
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exPD = PDControllerExplicit(p)
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sPD = PDControllerStable(p)
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for i in range (p.getNumJoints(pole2)):
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#disable default constraint-based motors
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p.setJointMotorControl2(pole,i,p.POSITION_CONTROL,targetPosition=0,force=0)
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print("joint",i,"=",p.getJointInfo(pole,i))
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p.setJointMotorControl2(pole2,i,p.POSITION_CONTROL,targetPosition=0,force=0)
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p.setJointMotorControl2(pole3,i,p.POSITION_CONTROL,targetPosition=0,force=0)
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p.setJointMotorControl2(pole4,i,p.POSITION_CONTROL,targetPosition=0,force=0)
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#print("joint",i,"=",p.getJointInfo(pole2,i))
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timeStepId = p.addUserDebugParameter("timeStep",0.001,0.1,0.01)
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desiredPosCartId = p.addUserDebugParameter("desiredPosCart",-10,10,2)
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desiredVelCartId = p.addUserDebugParameter("desiredVelCart",-10,10,0)
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kpCartId = p.addUserDebugParameter("kpCart",0,500,300)
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kpCartId = p.addUserDebugParameter("kpCart",0,500,1300)
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kdCartId = p.addUserDebugParameter("kdCart",0,300,150)
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maxForceCartId = p.addUserDebugParameter("maxForceCart",0,5000,1000)
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textColor = [1,1,1]
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shift = 0.05
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p.addUserDebugText("explicit PD", [shift,0,.1],textColor,parentObjectUniqueId=pole,parentLinkIndex=1)
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p.addUserDebugText("explicit PD plugin", [shift,0,-.1],textColor,parentObjectUniqueId=pole2,parentLinkIndex=1)
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p.addUserDebugText("stablePD", [shift,0,.1],textColor,parentObjectUniqueId=pole4,parentLinkIndex=1)
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p.addUserDebugText("position constraint", [shift,0,-.1],textColor,parentObjectUniqueId=pole3,parentLinkIndex=1)
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desiredPosPoleId = p.addUserDebugParameter("desiredPosPole",-10,10,0)
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desiredVelPoleId = p.addUserDebugParameter("desiredVelPole",-10,10,0)
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kpPoleId = p.addUserDebugParameter("kpPole",0,500,200)
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kpPoleId = p.addUserDebugParameter("kpPole",0,500,1200)
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kdPoleId = p.addUserDebugParameter("kdPole",0,300,100)
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maxForcePoleId = p.addUserDebugParameter("maxForcePole",0,5000,1000)
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@ -29,34 +52,50 @@ pd = p.loadPlugin("pdControlPlugin")
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p.setGravity(0,0,-10)
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useRealTimeSim = True
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useRealTimeSim = False
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p.setRealTimeSimulation(useRealTimeSim)
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p.setTimeStep(0.001)
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timeStep = 0.001
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while p.isConnected():
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if (pd>=0):
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desiredPosCart = p.readUserDebugParameter(desiredPosCartId)
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desiredVelCart = p.readUserDebugParameter(desiredVelCartId)
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kpCart = p.readUserDebugParameter(kpCartId)
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kdCart = p.readUserDebugParameter(kdCartId)
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maxForceCart = p.readUserDebugParameter(maxForceCartId)
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link = 0
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p.setJointMotorControl2(bodyUniqueId=pole,jointIndex=link,controlMode=p.PD_CONTROL,targetPosition=desiredPosCart,targetVelocity=desiredVelCart,force=maxForceCart, positionGain=kpCart, velocityGain=kdCart)
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desiredPosPole = p.readUserDebugParameter(desiredPosPoleId)
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desiredVelPole = p.readUserDebugParameter(desiredVelPoleId)
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kpPole = p.readUserDebugParameter(kpPoleId)
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kdPole = p.readUserDebugParameter(kdPoleId)
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maxForcePole = p.readUserDebugParameter(maxForcePoleId)
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link = 1
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p.setJointMotorControl2(bodyUniqueId=pole,jointIndex=link,controlMode=p.PD_CONTROL,targetPosition=desiredPosPole,targetVelocity=desiredVelPole,force=maxForcePole, positionGain=kpPole, velocityGain=kdPole)
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p.getCameraImage(320,200)
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timeStep = p.readUserDebugParameter(timeStepId)
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p.setTimeStep(timeStep)
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desiredPosCart = p.readUserDebugParameter(desiredPosCartId)
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desiredVelCart = p.readUserDebugParameter(desiredVelCartId)
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kpCart = p.readUserDebugParameter(kpCartId)
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kdCart = p.readUserDebugParameter(kdCartId)
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maxForceCart = p.readUserDebugParameter(maxForceCartId)
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desiredPosPole = p.readUserDebugParameter(desiredPosPoleId)
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desiredVelPole = p.readUserDebugParameter(desiredVelPoleId)
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kpPole = p.readUserDebugParameter(kpPoleId)
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kdPole = p.readUserDebugParameter(kdPoleId)
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maxForcePole = p.readUserDebugParameter(maxForcePoleId)
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taus = exPD.computePD(pole, [0,1], [desiredPosCart,desiredPosPole],[desiredVelCart,desiredVelPole], [kpCart,kpPole], [kdCart,kdPole],[maxForceCart,maxForcePole], timeStep)
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p.setJointMotorControlArray(pole, [0,1], controlMode=p.TORQUE_CONTROL, forces=taus)
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if (pd>=0):
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link = 0
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p.setJointMotorControl2(bodyUniqueId=pole2,jointIndex=link,controlMode=p.PD_CONTROL,targetPosition=desiredPosCart,targetVelocity=desiredVelCart,force=maxForceCart, positionGain=kpCart, velocityGain=kdCart)
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link = 1
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p.setJointMotorControl2(bodyUniqueId=pole2,jointIndex=link,controlMode=p.PD_CONTROL,targetPosition=desiredPosPole,targetVelocity=desiredVelPole,force=maxForcePole, positionGain=kpPole, velocityGain=kdPole)
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taus = sPD.computePD(pole4, [0,1], [desiredPosCart,desiredPosPole],[desiredVelCart,desiredVelPole], [kpCart,kpPole], [kdCart,kdPole],[maxForceCart,maxForcePole], timeStep)
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p.setJointMotorControlArray(pole4, [0,1], controlMode=p.TORQUE_CONTROL, forces=taus)
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p.setJointMotorControl2(pole3,0, p.POSITION_CONTROL, targetPosition=desiredPosCart, targetVelocity=desiredVelCart, positionGain=timeStep*(kpCart/150.), velocityGain=0.5, force=maxForceCart)
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p.setJointMotorControl2(pole3,1, p.POSITION_CONTROL, targetPosition=desiredPosPole, targetVelocity=desiredVelPole, positionGain=timeStep*(kpPole/150.), velocityGain=0.5, force=maxForcePole)
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if (not useRealTimeSim):
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p.stepSimulation()
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time.sleep(1./240.)
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time.sleep(timeStep)
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67
examples/pybullet/examples/pdControllerExplicit.py
Normal file
67
examples/pybullet/examples/pdControllerExplicit.py
Normal file
@ -0,0 +1,67 @@
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import numpy as np
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class PDControllerExplicit(object):
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def __init__(self, pb):
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self._pb = pb
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def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
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numJoints = self._pb.getNumJoints(bodyUniqueId)
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jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
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q1 = []
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qdot1 = []
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for i in range (numJoints):
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q1.append(jointStates[i][0])
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qdot1.append(jointStates[i][1])
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q = np.array(q1)
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qdot=np.array(qdot1)
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qdes = np.array(desiredPositions)
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qdotdes = np.array(desiredVelocities)
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qError = qdes - q
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qdotError = qdotdes - qdot
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Kp = np.diagflat(kps)
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Kd = np.diagflat(kds)
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forces = Kp.dot(qError) + Kd.dot(qdotError)
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maxF = np.array(maxForces)
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forces = np.clip(forces, -maxF , maxF )
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return forces
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class PDControllerStable(object):
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def __init__(self, pb):
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self._pb = pb
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def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds, maxForces, timeStep):
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numJoints = self._pb.getNumJoints(bodyUniqueId)
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jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
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q1 = []
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qdot1 = []
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zeroAccelerations = []
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for i in range (numJoints):
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q1.append(jointStates[i][0])
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qdot1.append(jointStates[i][1])
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zeroAccelerations.append(0)
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q = np.array(q1)
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qdot=np.array(qdot1)
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qdes = np.array(desiredPositions)
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qdotdes = np.array(desiredVelocities)
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qError = qdes - q
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qdotError = qdotdes - qdot
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Kp = np.diagflat(kps)
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Kd = np.diagflat(kds)
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p = Kp.dot(qError)
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d = Kd.dot(qdotError)
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forces = p + d
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M1 = self._pb.calculateMassMatrix(bodyUniqueId,q1)
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M2 = np.array(M1)
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M = (M2 + Kd * timeStep)
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c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
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c = np.array(c1)
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A = M
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b = -c + p + d
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qddot = np.linalg.solve(A, b)
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tau = p + d - Kd.dot(qddot) * timeStep
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maxF = np.array(maxForces)
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forces = np.clip(tau, -maxF , maxF )
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#print("c=",c)
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return tau
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