ArmRelPosKinematicAction class
The arm motor targets are offset by the delta joint values specified by the action
Methods
- def _get_processed_action(self, delta_pos, simulation_mode = 'dynamic')
- Assign the delta pos actions into a correct joint location
- def reset(self, *args: typing.Any, **kwargs: typing.Any) -> None
- def step(self, delta_pos, *args, **kwargs)
Special methods
- 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.