newton.actuators.ControllerPD

class newton.actuators.ControllerPD(kp, kd, const_effort=None)

Bases: Controller

Stateless PD (Proportional-Derivative) controller.

Effort law:

effort = const_effort + feedforward + kp * (target_pos - current_pos) + kd * (target_vel - current_vel)

classmethod resolve_arguments(args)

__init__(kp, kd, const_effort=None)

Initialize PD controller.

Parameters:

• kp (wp.array[float]) – Proportional gains [N/m or N·m/rad]. Shape (N,).

• kd (wp.array[float]) – Derivative gains [N·s/m or N·m·s/rad]. Shape (N,).

• const_effort (wp.array[float] | None) – Constant bias effort [N or N·m]. Shape (N,). None to skip.

compute(positions, velocities, target_pos, target_vel, feedforward, pos_indices, vel_indices, target_pos_indices, target_vel_indices, forces, state, dt, device=None)

is_graphable()

is_stateful()