visual_mpc_client.py 文件源码

def move_with_impedance(self, des_joint_angles):
        """
        non-blocking
        """
        js = JointState()
        js.name = self.ctrl.limb.joint_names()
        js.position = [des_joint_angles[n] for n in js.name]
        self.imp_ctrl_publisher.publish(js)