robopal.controllers.task_imp_controller module

class robopal.controllers.task_imp_controller.CartesianImpedanceController(robot, is_interpolate=False, interpolator_config: dict = None)

基类：BaseController

Cartesian Impedance Controller in the end-effector frame

set_cart_params(b: ndarray, k: ndarray)

set the parameters of the impedance controller in the cartesian space

step_controller(action)

compute the torque in the joint space from the impedance controller in the cartesian space

action: desired_pose [x, y, z, qw, qx, qy, qz]

robopal.controllers.task_imp_controller.orientation_error(desired: ndarray, current: ndarray) → ndarray

computer ori error from ori to cartesian 姿态矩阵的偏差3*3的 :param desired: desired orientation :type desired: np.ndarray :param current: current orientation :type current: np.ndarray

返回:

orientation error(from pose(3*3) to eulor angular(3*1))

返回类型:

_type_