26 lines
588 B
Python
26 lines
588 B
Python
import numpy as np
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class CartesianPoseController:
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def __init__(self, model, x0):
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self.model = model
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self.x_d = x0
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self.kp = np.ones(6) * 5.0
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def set_target(self, pose):
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self.x_d = pose
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def update(self, q, dq):
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x = self.model.pose(q)
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x_d = self.x_d
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err = np.zeros(6)
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err[:3] = x_d.translation - x.translation
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err[3:] = (x_d.rotation * x.rotation.inv()).as_rotvec()
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J = self.model.jacobian(q)
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J_pinv = np.linalg.pinv(J)
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cmd = np.dot(J_pinv, self.kp * err)
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return cmd
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