mani_skill.agents.controllers.pd_base_vel#

Classes#

`PDBaseForwardVelController`	PDJointVelController for forward-only ego-centric base movement.
`PDBaseForwardVelControllerConfig`
`PDBaseVelController`	PDJointVelController for ego-centric base movement.
`PDBaseVelControllerConfig`

Module Contents#

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

Bases: mani_skill.agents.controllers.pd_joint_vel.PDJointVelController

PDJointVelController for forward-only ego-centric base movement.

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]#

set_action(action)[source]#

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

Parameters:: action (torch.Tensor)

class mani_skill.agents.controllers.pd_base_vel.PDBaseForwardVelControllerConfig[source]#

Bases: mani_skill.agents.controllers.pd_joint_vel.PDJointVelControllerConfig

controller_cls[source]#

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

Bases: mani_skill.agents.controllers.pd_joint_vel.PDJointVelController

PDJointVelController for ego-centric base movement.

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]#

set_action(action)[source]#

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

Parameters:: action (torch.Tensor)

class mani_skill.agents.controllers.pd_base_vel.PDBaseVelControllerConfig[source]#

Bases: mani_skill.agents.controllers.pd_joint_vel.PDJointVelControllerConfig

controller_cls[source]#