Language Language English 简体中文 unilab.envs.manipulation.allegro_inhand.rotation.compute_pd_torques¶ unilab.envs.manipulation.allegro_inhand.rotation.compute_pd_torques(targets, dof_pos, dof_vel, kp, kd)[source]¶ Parameters: targets (ndarray) dof_pos (ndarray) dof_vel (ndarray) kp (float) kd (float) Return type: ndarray