RearrangePickRewardMeasurementConfig class
Rearrangement Only. Requires the end_effector_sensor lab sensor. The reward for the pick task.
Special methods
- def __init__(self, type: str = 'RearrangePickReward', dist_reward: float = 2.0, pick_reward: float = 2.0, constraint_violate_pen: float = 1.0, drop_pen: float = 0.5, wrong_pick_pen: float = 0.5, force_pen: float = 0.0001, max_force_pen: float = 0.01, force_end_pen: float = 1.0, use_diff: bool = True, drop_obj_should_end: bool = True, wrong_pick_should_end: bool = True, count_coll_pen: float = -1.0, max_count_colls: int = -1, count_coll_end_pen: float = 1.0, max_target_distance: float = -1.0, max_target_distance_pen: float = 1.0, non_desire_ee_local_pos_dis: float = -1.0, non_desire_ee_local_pos_pen: float = 1.0, non_desire_ee_local_pos: typing.Optional[typing.List[float]] = None, camera_looking_down_angle: float = -1.0, camera_looking_down_pen: float = 1.0) -> None
- def __repr__(self)
Data
- camera_looking_down_angle: float = -1.0
- camera_looking_down_pen: float = 1.0
- constraint_violate_pen: float = 1.0
- count_coll_end_pen: float = 1.0
- count_coll_pen: float = -1.0
- dist_reward: float = 2.0
- drop_obj_should_end: bool = True
- drop_pen: float = 0.5
- force_end_pen: float = 1.0
- force_pen: float = 0.0001
- max_count_colls: int = -1
- max_force_pen: float = 0.01
- max_target_distance: float = -1.0
- max_target_distance_pen: float = 1.0
- non_desire_ee_local_pos: typing.Optional[typing.List[float]] = None
- non_desire_ee_local_pos_dis: float = -1.0
- non_desire_ee_local_pos_pen: float = 1.0
- pick_reward: float = 2.0
- type: str = 'RearrangePickReward'
- use_diff: bool = True
- wrong_pick_pen: float = 0.5
- wrong_pick_should_end: bool = True