robopal.controllers.jnt_imp_controller module

class robopal.controllers.jnt_imp_controller.JointImpedanceController(robot, is_interpolate=False, interpolator_config: dict = None)

基类：BaseController

compute_jnt_torque(q_des: ndarray, v_des: ndarray, q_cur: ndarray, v_cur: ndarray, agent: str = 'arm0') → ndarray

robot的关节空间控制的计算公式

Compute desired torque with robot dynamics modeling: > M(q)qdd + C(q, qd)qd + G(q) + tau_F(qd) = tau_ctrl + tau_env

参数:

• q_des -- desired joint position

• v_des -- desired joint velocity

• q_cur -- current joint position

• v_cur -- current joint velocity

返回:

desired joint torque

reset()

reset controller.

set_jnt_params(b: ndarray, k: ndarray)

Used for changing the parameters.

step_controller(action)

参数:

action -- joint position

返回:

joint torque

step_interpolator(action)