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unilab.envs.locomotion.go2w.base.compute_go2w_motor_ctrl¶

unilab.envs.locomotion.go2w.base.compute_go2w_motor_ctrl(policy_ctrl, joint_pos, joint_vel, leg_kp, leg_kd, wheel_kd, ctrl_lower, ctrl_upper, out)[source]¶

Convert Go2W owner-level controls into motor actuator torques.

Hot path: shapes/dtypes are validated by the owning env at init/reset.

Parameters:

policy_ctrl (ndarray)
joint_pos (ndarray)
joint_vel (ndarray)
leg_kp (ndarray)
leg_kd (ndarray)
wheel_kd (ndarray)
ctrl_lower (ndarray)
ctrl_upper (ndarray)
out (ndarray)

Return type:

ndarray