ArmActionConfig class
In Rearrangement tasks only, the action that will move the robot arm around. The action represents to delta angle (in radians) of each joint.
Special methods
- def __init__(self, type: str = 'ArmAction', arm_controller: str = 'ArmRelPosAction', grip_controller: typing.Optional[str] = None, arm_joint_mask: typing.Optional[typing.List[int]] = None, arm_joint_dimensionality: int = 7, arm_joint_limit: typing.Optional[typing.List[float]] = None, grasp_thresh_dist: float = 0.15, disable_grip: bool = False, delta_pos_limit: float = 0.0125, ee_ctrl_lim: float = 0.015, should_clip: bool = False, render_ee_target: bool = False, gaze_distance_range: typing.Optional[typing.List[float]] = None, center_cone_angle_threshold: float = 0.0, center_cone_vector: typing.Optional[typing.List[float]] = None, auto_grasp: bool = False) -> None
- def __repr__(self)
Data
- arm_controller: str = 'ArmRelPosAction'
- arm_joint_dimensionality: int = 7
- arm_joint_limit: typing.Optional[typing.List[float]] = None
- arm_joint_mask: typing.Optional[typing.List[int]] = None
- auto_grasp: bool = False
- center_cone_angle_threshold: float = 0.0
- center_cone_vector: typing.Optional[typing.List[float]] = None
- delta_pos_limit: float = 0.0125
- disable_grip: bool = False
- ee_ctrl_lim: float = 0.015
- gaze_distance_range: typing.Optional[typing.List[float]] = None
- grasp_thresh_dist: float = 0.15
- grip_controller: typing.Optional[str] = None
- render_ee_target: bool = False
- should_clip: bool = False
- type: str = 'ArmAction'