robopal.controllers.jnt_torque_controller module¶

class robopal.controllers.jnt_torque_controller.JointTorqueController(robot, is_interpolate=False, interpolator_config: dict = None)[源代码]¶

基类：BaseController

reset()[源代码]¶: reset controller.

step_controller(action)[源代码]¶

参数:: action -- joint torque
返回:: joint torque

step_interpolator(action)[源代码]¶