control¶

Control: controllers built from compiled virtual mechanisms.

Modules

`blending`	Smooth element swaps: one set of virtual elements replaces another with a quintic blend.
`controller`	VMCController: runs a compiled virtual mechanism step by step.
`output`	Output stages: optional corrections applied, in order, to the torques before they are sent.
`projection`	Projection of a stiffness onto the matrices a passive spring can have.
`schedule`	Schedules: live Params that follow given values over time, and swaps at given times.
`state`	StateController: a controller that reads the robot's state, not its motors.
`tank`	Tank: an energy budget for changing a running controller.
`underactuated`	Virtual Model Control of robots with fewer motors than coordinates.