def pd_control_orientation()

in gym_hil/controllers/opspace.py [0:0]

• 6 lines of code
• 1 McCabe index (conditional complexity)

def pd_control_orientation(
    quat: np.ndarray,
    quat_des: np.ndarray,
    w: np.ndarray,
    kp_kv: np.ndarray,
    dw_max: float = 0.0,