peripherals.OutputPeripheral

class peripherals.OutputPeripheral(**kwargs)

A Peripheral that outputs the positions of the DOFs, such as to Mujoco or a Robotic Hand

abstract output_position(x_hat, x_d) → None

Output the DOF positions x_hat and x_d to the peripheral. x_hat takes priority over x_d. Positions should be in the range of [-1, 1] with 0 as rest.