concepts.simulator.pybullet.control_utils.get_os_imp_control_command#

get_os_imp_control_command(curr_pos, curr_quat, target_pos, target_quat, curr_vel, curr_omg, J, config=None)[source]#

Operation-space impedance control. It uses goal pose from the feedback thread and current robot states from the subscribed messages to compute task-space force, and then the corresponding joint torques.

Implementation is based on: https://github.com/justagist/pybullet_robot/blob/master/src/pybullet_robot/controllers/os_impedance_ctrl.py Also reference: https://github.com/NVIDIA-Omniverse/orbit/blob/57e766cf68c942191a74e24269b780ee9a817535/source/extensions/omni.isaac.orbit/omni/isaac/orbit/controllers/operational_space.py#L307

Parameters:
Returns:

joint torques.