concepts.simulator.sapien2.controllers.base_cartesian_line_controller.BaseCartesianLineProportionalController# class BaseCartesianLineProportionalController[source]# Bases: object Methods get_current_t() get_desired_angular_velocity() get_desired_velocity() get_projection_t(position) set_velocities() __init__(actor, initial_position, target_position, num_steps, gain)[source]# Parameters: actor (sapien.core.Actor) initial_position (ndarray) target_position (ndarray) num_steps (int) gain (float) __new__(**kwargs)# get_current_t()[source]# Return type: float get_desired_angular_velocity()[source]# Return type: ndarray get_desired_velocity()[source]# Return type: ndarray get_projection_t(position)[source]# Parameters: position (ndarray) Return type: float set_velocities()[source]#