| from .parts.controller_factory import controller_factory, load_part_controller_config | |
| from .composite import composite_controller_factory, ALL_COMPOSITE_CONTROLLERS | |
| from .composite.composite_controller_factory import load_composite_controller_config | |
| PART_CONTROLLER_INFO = { | |
| "JOINT_VELOCITY": "Joint Velocity", | |
| "JOINT_TORQUE": "Joint Torque", | |
| "JOINT_POSITION": "Joint Position", | |
| "OSC_POSITION": "Operational Space Control (Position Only)", | |
| "OSC_POSE": "Operational Space Control (Position + Orientation)", | |
| "IK_POSE": "Inverse Kinematics Control (Position + Orientation) (Note: must have PyBullet installed)", | |
| } | |
| ALL_PART_CONTROLLERS = PART_CONTROLLER_INFO.keys() | |