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:

  • 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.