motrixsim.osc#

Classes:

OscSolver([control_ori, uncouple_pos_ori, ...])

Operational Space Controller Solver.
class motrixsim.osc.OscSolver(control_ori=True, uncouple_pos_ori=True, kp=None, damping_ratio=1.0, nullspace_kp=10.0)#

基类：object

Operational Space Controller Solver.

Pure functional interface - no internal state. Users manage IkChain and targets themselves.

参数:

  • control_ori (bool) -- Whether to control orientation. Default True.

  • uncouple_pos_ori (bool) -- Whether to decouple position/orientation. Default True.

  • kp (float or ndarray) -- Position/orientation gains. Default 150.0.

  • damping_ratio (float) -- Damping ratio for velocity gains. Default 1.0.

  • nullspace_kp (float) -- Nullspace position gain. Default 10.0.

Methods:

solve(chain, ee_target_pos, ee_target_ori, ...)

Compute joint torques to track end-effector target.
solve(chain, ee_target_pos, ee_target_ori, nullspace_joint_pos, data)#

Compute joint torques to track end-effector target.

参数:

  • chain (IkChain) -- The kinematic chain (user manages this).

  • ee_target_pos (ndarray) -- Target position in world frame. Shape: (*data.shape, 3) [x, y, z]

  • ee_target_ori (ndarray) -- Target orientation as axis-angle. Shape: (*data.shape, 3) [ax, ay, az]

  • nullspace_joint_pos (ndarray) -- Target joint positions for nullspace control. Shape: (*data.shape, num_dof)

  • data (SceneData) -- Current simulation data.

返回:

Joint torques. Shape: (*data.shape, num_dof).

返回类型:

ndarray