mani_skill.trajectory.utils.actions.conversion
==============================================

.. py:module:: mani_skill.trajectory.utils.actions.conversion

.. autoapi-nested-parse::

   Utilities to convert actions between different control modes. Note that this code is specifically designed for the Franka Panda robot arm, it is not guaranteed to work for other robots.



Functions
---------

.. autoapisummary::

   mani_skill.trajectory.utils.actions.conversion.compact_axis_angle_from_quaternion
   mani_skill.trajectory.utils.actions.conversion.delta_pose_to_pd_ee_delta
   mani_skill.trajectory.utils.actions.conversion.from_pd_joint_delta_pos
   mani_skill.trajectory.utils.actions.conversion.from_pd_joint_pos
   mani_skill.trajectory.utils.actions.conversion.from_pd_joint_pos_to_ee
   mani_skill.trajectory.utils.actions.conversion.qpos_to_pd_joint_delta_pos
   mani_skill.trajectory.utils.actions.conversion.qpos_to_pd_joint_target_delta_pos
   mani_skill.trajectory.utils.actions.conversion.qpos_to_pd_joint_vel


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

.. py:function:: compact_axis_angle_from_quaternion(quat)

.. py:function:: delta_pose_to_pd_ee_delta(controller, delta_pose, pos_only=False)

   Given a delta pose, convert it to a PDEEPose/PDEEPos Controller action


.. py:function:: from_pd_joint_delta_pos(output_mode, ori_actions, ori_env, env, render=False, pbar=None, verbose=False)

.. py:function:: from_pd_joint_pos(output_mode, ori_actions, ori_env, env, render=False, pbar=None, verbose=False)

.. py:function:: from_pd_joint_pos_to_ee(output_mode, ori_actions, ori_env, env, render=False, pbar=None, verbose=False)

.. py:function:: qpos_to_pd_joint_delta_pos(controller, qpos)

.. py:function:: qpos_to_pd_joint_target_delta_pos(controller, qpos)

.. py:function:: qpos_to_pd_joint_vel(controller, qpos)