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)

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: justagist/pybullet_robot Also reference: NVIDIA-Omniverse/orbit

Parameters:

• curr_pos (Tuple[float, float, float] | List[float] | ndarray) – current end-effector position.

• curr_quat (Tuple[float, float, float, float] | List[float] | ndarray) – current end-effector orientation.

• 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.

• curr_vel (Tuple[float, float, float] | List[float] | ndarray) – current end-effector velocity.

• curr_omg (Tuple[float, float, float] | List[float] | ndarray) – current end-effector angular velocity.

• J (ndarray) – end-effector Jacobian.

• config (dict | None) – control parameters.

Returns:

joint torques.