concepts.simulator.pybullet.control_utils.get_os_imp_control_command_robot#

get_os_imp_control_command_robot(robot, target_pos, target_quat, config=None)[source]#

Alias of get_os_imp_control_command, but with a robot instance as the input.

Parameters:

robot – robot instance. The robot should have implemented the following methods: get_ee_pose: return the current end-effector pose. get_ee_velocity: return the current end-effector velocity. get_jacobian: return the current end-effector Jacobian.
target_pos (Tuple[float, float, float] | List[float] | ndarray) – goal end-effector position.
target_quat (Tuple[float, float, float, float] | List[float] | ndarray) – goal end-effector orientation.
config (dict | None) – control parameters.