parameters: (self, desiredPositions, desiredVelocities, maxForces)
return_statement: return taus
docstring: Compute torques from the PD controller.
docstring_summary: Compute torques from the PD controller.
docstring_tokens: Compute torques from the PD controller .
function: def computePDForces(self, desiredPositions, desiredVelocities, maxForces):
      """Compute torques from the PD controller."""
      if desiredVelocities == None:
        desiredVelocities = [0] * self._totalDofs
  
      taus = self._stablePD.computePD(bodyUniqueId=self._sim_model,
                                      jointIndices=self._jointIndicesAll,
                                      desiredPositions=desiredPositions,
                                      desiredVelocities=desiredVelocities,
                                      kps=self._kpOrg,
                                      kds=self._kdOrg,
                                      maxForces=maxForces,
                                      timeStep=self._timeStep)
      return taus
function_tokens: def computePDForces ( self , desiredPositions , desiredVelocities , maxForces ) : if desiredVelocities == None : desiredVelocities = [ 0 ] * self . _totalDofs taus = self . _stablePD . computePD ( bodyUniqueId = self . _sim_model , jointIndices = self . _jointIndicesAll , desiredPositions = desiredPositions , desiredVelocities = desiredVelocities , kps = self . _kpOrg , kds = self . _kdOrg , maxForces = maxForces , timeStep = self . _timeStep ) return taus