ArmEEAction class
Uses inverse kinematics (requires pybullet) to apply end-effector position control for the articulated_agent’s arm.
Methods
- def apply_ee_constraints(self)
- def reset(self, *args, **kwargs)
- def set_desired_ee_pos(self, ee_pos: numpy.ndarray) -> None
- def step(self, ee_pos, **kwargs)
Special methods
- def __init__(self, *args, sim: rearrange_sim.RearrangeSim, **kwargs)
Properties
- _action_arg_prefix: str get
- Returns the action prefix to go in front of sensor / action names if there are multiple agents.
- _articulated_agent_mgr get
- Underlying articulated_agent manager for the articulated_agent instance the action is attached to.
- _ik_helper get
- The IK helper for this articulated_agent instance.
- action_space get
- cur_articulated_agent get
- The articulated_agent instance for this action.
- cur_grasp_mgr get
- The grasp manager for the articulated_agent instance for this action.