concepts.simulator.sapien2.controllers.joint_trajectory_controller.JointTrajectoryProportionalController

class JointTrajectoryProportionalController

Bases: object

Methods

get_current_t()
get_desired_velocities([t])
get_projection_t(current_p, current_q)
set_velocities([contact])

__init__(actor, p_array, q_array, gain, coef=1)

Parameters:

• actor (sapien.core.Actor)

• p_array (ndarray)

• q_array (ndarray)

• gain (float)

• coef (float)

__new__(**kwargs)

get_current_t()

Return type:

int

get_desired_velocities(t=None)

Return type:

tuple[ndarray, ndarray]

get_projection_t(current_p, current_q)

Return type:

int

set_velocities(contact=None)