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, scene, control_freq, sim_freq=None)[source]#

Bases: mani_skill.agents.controllers.base_controller.BaseController

Passive controller that does not do anything

Parameters:

config (ControllerConfig)
articulation (mani_skill.utils.structs.Articulation)
scene (mani_skill.envs.scene.ManiSkillScene)
control_freq (int)
sim_freq (Optional[int])

_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]#