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, control_freq, sim_freq=None, scene=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:
_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 (numpy.ndarray) –

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]#