mani_skill.agents.controllers.pd_joint_vel#

Classes#

`PDJointVelController`	Base class for controllers.
`PDJointVelControllerConfig`

Module Contents#

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

Bases: mani_skill.agents.controllers.base_controller.BaseController

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

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)

set_drive_property()[source]#: Set the joint drive property according to the config.

config: PDJointVelControllerConfig[source]#

sets_target_qpos = False[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_vel.PDJointVelControllerConfig[source]#

Bases: mani_skill.agents.controllers.base_controller.ControllerConfig

controller_cls[source]#

damping: float | Sequence[float][source]#

drive_mode: Sequence[mani_skill.utils.structs.types.DriveMode] | mani_skill.utils.structs.types.DriveMode = 'force'[source]#

force_limit: float | Sequence[float] = 10000000000.0[source]#

friction: float | Sequence[float] = 0.0[source]#

lower: float | Sequence[float][source]#

normalize_action: bool = True[source]#

upper: float | Sequence[float][source]#