| 42 | |
| 43 | # Defines Action Encoding Schemes |
| 44 | class ActionEncoding(IntEnum): |
| 45 | # fmt: off |
| 46 | EEF_POS = 1 # EEF Delta XYZ (3) + Roll-Pitch-Yaw (3) + Gripper Open/Close (1) |
| 47 | JOINT_POS = 2 # Joint Delta Position (7) + Gripper Open/Close (1) |
| 48 | JOINT_POS_BIMANUAL = 3 # Joint Delta Position (2 x [ Joint Delta Position (6) + Gripper Open/Close (1) ]) |
| 49 | EEF_R6 = 4 # EEF Delta XYZ (3) + R6 (6) + Gripper Open/Close (1) |
| 50 | # fmt: on |
| 51 | |
| 52 | |
| 53 | # === Individual Dataset Configs === |
nothing calls this directly
no outgoing calls
no test coverage detected