mani_skill.agents.controllers.pd_joint_vel
==========================================

.. py:module:: mani_skill.agents.controllers.pd_joint_vel


Classes
-------

.. autoapisummary::

   mani_skill.agents.controllers.pd_joint_vel.PDJointVelController
   mani_skill.agents.controllers.pd_joint_vel.PDJointVelControllerConfig


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

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

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


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


   .. 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:method:: set_drive_property()

      Set the joint drive property according to the config.



   .. py:attribute:: config
      :type:  PDJointVelControllerConfig


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


      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:: PDJointVelControllerConfig

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


   .. py:attribute:: controller_cls


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


   .. py:attribute:: drive_mode
      :type:  Union[Sequence[mani_skill.utils.structs.types.DriveMode], mani_skill.utils.structs.types.DriveMode]
      :value: 'force'



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



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



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


   .. py:attribute:: normalize_action
      :type:  bool
      :value: True



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