concepts.simulator.pybullet.control_utils.get_joint_imp_control_command#

get_joint_imp_control_command(q, dq, target_q, target_dq=None, config=None)[source]#

Joint-space impedance control. It uses goal joint states from the feedback thread and current robot states from the subscribed messages to compute joint torques.

Implementation is based on a simplified version of: NVIDIA-Omniverse/orbit

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.