ArtObjRewardMeasurementConfig class
Rearrangement open/close container tasks only. Requires art_obj_at_desired_state.
Special methods
- def __init__(self, type: str = 'ArtObjReward', dist_reward: float = 1.0, wrong_grasp_end: bool = False, wrong_grasp_pen: float = 5.0, art_dist_reward: float = 10.0, ee_dist_reward: float = 10.0, marker_dist_reward: float = 0.0, art_at_desired_state_reward: float = 5.0, grasp_reward: float = 0.0, constraint_violate_pen: float = 10.0, force_pen: float = 0.0, max_force_pen: float = 1.0, force_end_pen: float = 10.0, count_coll_pen: float = -1.0, max_count_colls: int = -1, count_coll_end_pen: float = 1.0) -> None
- def __repr__(self)
Data
- art_at_desired_state_reward: float = 5.0
- art_dist_reward: float = 10.0
- constraint_violate_pen: float = 10.0
- count_coll_end_pen: float = 1.0
- count_coll_pen: float = -1.0
- dist_reward: float = 1.0
- ee_dist_reward: float = 10.0
- force_end_pen: float = 10.0
- force_pen: float = 0.0
- grasp_reward: float = 0.0
- marker_dist_reward: float = 0.0
- max_count_colls: int = -1
- max_force_pen: float = 1.0
- type: str = 'ArtObjReward'
- wrong_grasp_end: bool = False
- wrong_grasp_pen: float = 5.0