habitat.tasks.rearrange.actions.actions.ArmRelPosAction class

The arm motor targets are offset by the delta joint values specified by the action

Methods

def reset(self, *args: typing.Any, **kwargs: typing.Any) -> None
def step(self, delta_pos, should_step = True, *args, **kwargs)

Special methods

def __format__(self, format_spec, /)
Default object formatter.
def __init__(self, *args, config, 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.

Method documentation

def habitat.tasks.rearrange.actions.actions.ArmRelPosAction.__format__(self, format_spec, /)

Default object formatter.

Return str(self) if format_spec is empty. Raise TypeError otherwise.