concepts.simulator.pybullet.control_utils.get_joint_explicit_pd_control_command# get_joint_explicit_pd_control_command(q, dq, target_q, target_dq=None, config=None)[source]# Joint-space PD control. It uses goal joint states from the feedback thread and current robot states from the subscribed messages to compute joint torques. Parameters: q (ndarray) – current joint positions. dq (ndarray) – current joint velocities. target_q (ndarray) – goal joint positions. target_dq (ndarray | None) – goal joint velocities. config (dict | None) – control parameters.