compute_joint_torque()

float compute_joint_torque	(		self,
		str	joint_name,
		float	feedforward_torque,
		float	target_position,
		float	target_velocity,
		float	kp_scale,
		float	kd_scale,
		float	maximum_torque
	)

Reproduce the moteus position controller in PyBullet.

Parameters

joint_name	Name of the joint.
feedforward_torque	Feedforward torque command in N⋅m.
target_position	Target angular position in rad.
target_velocity	Target angular velocity in rad/s.
kp_scale	Multiplicative factor applied to the proportional gain in torque control.
kd_scale	Multiplicative factor applied to the derivative gain in torque control.
maximum_torque	Maximum torque in N·m from the command.

Returns

Computed joint torque in N·m.

This function should have the same semantics as upkie::cpp::interfaces::BulletInterface::compute_joint_torque.