mani_skill.agents.controllers.pd_joint_pos_vel#

Classes#

PDJointPosVelController

Base class for controllers.

PDJointPosVelControllerConfig

Module Contents#

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

Bases: mani_skill.agents.controllers.pd_joint_pos.PDJointPosController

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

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

Resets the controller to an initial state. This is called upon environment creation and each environment reset

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_velocity_targets(targets)[source]#
_target_qvel = None[source]#
config: PDJointPosVelControllerConfig[source]#
sets_target_qpos = True[source]#

Whether the controller sets the target qpos of the articulation

sets_target_qvel = True[source]#

Whether the controller sets the target qvel of the articulation

class mani_skill.agents.controllers.pd_joint_pos_vel.PDJointPosVelControllerConfig[source]#

Bases: mani_skill.agents.controllers.pd_joint_pos.PDJointPosControllerConfig

controller_cls[source]#
vel_lower: float | Sequence[float] = -1.0[source]#
vel_upper: float | Sequence[float] = 1.0[source]#