mani_skill.agents.controllers.passive_controller
================================================

.. py:module:: mani_skill.agents.controllers.passive_controller


Classes
-------

.. autoapisummary::

   mani_skill.agents.controllers.passive_controller.PassiveController
   mani_skill.agents.controllers.passive_controller.PassiveControllerConfig


Module Contents
---------------

.. py:class:: PassiveController(config, articulation, control_freq, sim_freq = None, scene = None)

   Bases: :py:obj:`mani_skill.agents.controllers.base_controller.BaseController`


   Passive controller that does not do anything


   .. py:method:: _initialize_action_space()


   .. py:method:: before_simulation_step()

      Called before each simulation step in one control step.



   .. py:method:: set_action(action)

      Set the action to execute.
      The action can be low-level control signals or high-level abstract commands.



   .. py:method:: set_drive_property()

      Set the joint drive property according to the config.



   .. py:attribute:: config
      :type:  PassiveControllerConfig


   .. py:attribute:: sets_target_qpos
      :value: False


      Whether the controller sets the target qpos of the articulation


   .. py:attribute:: sets_target_qvel
      :value: False


      Whether the controller sets the target qvel of the articulation


.. py:class:: PassiveControllerConfig

   Bases: :py:obj:`mani_skill.agents.controllers.base_controller.ControllerConfig`


   .. py:attribute:: controller_cls


   .. py:attribute:: damping
      :type:  Union[float, Sequence[float]]


   .. py:attribute:: force_limit
      :type:  Union[float, Sequence[float]]
      :value: 10000000000.0



   .. py:attribute:: friction
      :type:  Union[float, Sequence[float]]
      :value: 0.0