newton.controllers#
GPU-accelerated, vectorized control laws.
This module provides standalone controllers that compute signals
for the robot to track. Each controller is a concrete
subclass of ControllerBase.
Experimental
Experimental feature. API, behavior, defaults, and supported use cases may change without prior notice.
Classes
Abstract interface for a single Newton control law. |
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Differential-kinematics (Jacobian-based) controller with internally computed kinematics. |
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Differential-kinematics (Jacobian-based) controller with a caller-supplied Jacobian. |
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Joint-space impedance controller with internally computed dynamics. |
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Joint-space impedance controller with caller-supplied dynamics. |
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Task-space (operational-space) impedance controller with internally computed dynamics. |
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Task-space (operational-space) impedance controller with caller-supplied kinematics and dynamics. |
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Inverse-Jacobian solve method for |