mani_skill.agents.controllers.pd_joint_pos_vel
==============================================

.. py:module:: mani_skill.agents.controllers.pd_joint_pos_vel


Classes
-------

.. autoapisummary::

   mani_skill.agents.controllers.pd_joint_pos_vel.PDJointPosVelController
   mani_skill.agents.controllers.pd_joint_pos_vel.PDJointPosVelControllerConfig


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

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

   Bases: :py:obj:`mani_skill.agents.controllers.pd_joint_pos.PDJointPosController`


   Base class for controllers.
   The controller is an interface for the robot to interact with the environment.


   .. py:method:: _initialize_action_space()


   .. py:method:: reset()

      Resets the controller to an initial state. This is called upon environment creation and each environment reset



   .. 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_velocity_targets(targets)


   .. py:attribute:: _target_qvel
      :value: None



   .. py:attribute:: config
      :type:  PDJointPosVelControllerConfig


   .. py:attribute:: sets_target_qpos
      :value: True


      Whether the controller sets the target qpos of the articulation


   .. py:attribute:: sets_target_qvel
      :value: True


      Whether the controller sets the target qvel of the articulation


.. py:class:: PDJointPosVelControllerConfig

   Bases: :py:obj:`mani_skill.agents.controllers.pd_joint_pos.PDJointPosControllerConfig`


   .. py:attribute:: controller_cls


   .. py:attribute:: vel_lower
      :type:  Union[float, Sequence[float]]
      :value: -1.0



   .. py:attribute:: vel_upper
      :type:  Union[float, Sequence[float]]
      :value: 1.0