mani_skill.agents.controllers.passive_controller#

Classes#

PassiveController

Passive controller that does not do anything

PassiveControllerConfig

Module Contents#

class mani_skill.agents.controllers.passive_controller.PassiveController(config, articulation, control_freq, sim_freq=None, scene=None)[source]#

Bases: mani_skill.agents.controllers.base_controller.BaseController

Passive controller that does not do anything

Parameters:
_initialize_action_space()[source]#
before_simulation_step()[source]#

Called before each simulation step in one control step.

set_action(action)[source]#

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

Parameters:

action (numpy.ndarray) –

set_drive_property()[source]#

Set the joint drive property according to the config.

config: PassiveControllerConfig[source]#
sets_target_qpos = False[source]#

Whether the controller sets the target qpos of the articulation

sets_target_qvel = False[source]#

Whether the controller sets the target qvel of the articulation

class mani_skill.agents.controllers.passive_controller.PassiveControllerConfig[source]#

Bases: mani_skill.agents.controllers.base_controller.ControllerConfig

controller_cls[source]#
damping: float | Sequence[float][source]#
force_limit: float | Sequence[float] = 10000000000.0[source]#
friction: float | Sequence[float] = 0.0[source]#