robopal.controllers.jnt_vel_controller module

class robopal.controllers.jnt_vel_controller.JointVelocityController(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')

robot的关节空间控制的计算公式

Compute desired torque with robot dynamics modeling: > k_p * (vd - v) = tau

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

set_jnt_params(p: ndarray, d: ndarray)

step_controller(action)

Step once computing for all agents.