mani_skill.agents.controllers.pd_base_vel
=========================================

.. py:module:: mani_skill.agents.controllers.pd_base_vel


Classes
-------

.. autoapisummary::

   mani_skill.agents.controllers.pd_base_vel.PDBaseForwardVelController
   mani_skill.agents.controllers.pd_base_vel.PDBaseForwardVelControllerConfig
   mani_skill.agents.controllers.pd_base_vel.PDBaseVelController
   mani_skill.agents.controllers.pd_base_vel.PDBaseVelControllerConfig


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

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

   Bases: :py:obj:`mani_skill.agents.controllers.pd_joint_vel.PDJointVelController`


   PDJointVelController for forward-only ego-centric base movement.


   .. py:method:: _initialize_action_space()


   .. py:method:: set_action(action)

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



.. py:class:: PDBaseForwardVelControllerConfig

   Bases: :py:obj:`mani_skill.agents.controllers.pd_joint_vel.PDJointVelControllerConfig`


   .. py:attribute:: controller_cls


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

   Bases: :py:obj:`mani_skill.agents.controllers.pd_joint_vel.PDJointVelController`


   PDJointVelController for ego-centric base movement.


   .. py:method:: _initialize_action_space()


   .. py:method:: set_action(action)

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



.. py:class:: PDBaseVelControllerConfig

   Bases: :py:obj:`mani_skill.agents.controllers.pd_joint_vel.PDJointVelControllerConfig`


   .. py:attribute:: controller_cls