robopal.controllers.base_controller module¶

class robopal.controllers.base_controller.BaseController(robot: BaseRobot)[源代码]¶

基类：object

forward_kinematics(q, agent='arm0')[源代码]¶

reset()[源代码]¶: reset controller.

step_controller(action: ndarray | Dict[str, ndarray]) → ndarray | Dict[str, ndarray][源代码]¶: Step once computing for all agents.