robopal.controllers.task_ik_controller module

class robopal.controllers.task_ik_controller.CartesianIKController(robot, is_interpolate=False, interpolator_config: dict = None, is_pd=False)

基类：JointImpedanceController

compute_pd_increment(p_goal: ndarray, p_cur: ndarray, r_goal: ndarray, r_cur: ndarray, pd_goal: ndarray = array([0., 0., 0.]), pd_cur: ndarray = array([0., 0., 0.]))

ik(pos, quat, agent='arm0', q_init=None)

step_controller(action)

Param:

action: end pose

返回:

joint torque