Common Virtual Field Utilities

TargetPoseProportionalControl

TargetPoseProportionalControl is the main utility force used by the current dual-arm simulation modes to make a rod tip follow a controller-driven target pose.

Source: Runtime Common Utilities

Expected target orientation convention

The controller target orientation is expected in the same row-wise director format used elsewhere in the runtime:

  • rows represent [normal, binormal, tangent] in world coordinates

  • the matrix maps world coordinates into local rod coordinates

This is why the runtime converts controller quaternions before passing the orientation into the control force.

Notes

  • If is_attached() returns False, the control applies nothing.

  • The force is proportional only; there is no derivative term in this class.

  • Angular control is computed from the orientation error between the current director frame and the target director frame.

  • The implementation includes a special-case path for near-180-degree rotation differences to avoid unstable axis recovery.