| 31 | |
| 32 | # Defines Proprioceptive State Encoding Schemes |
| 33 | class StateEncoding(IntEnum): |
| 34 | # fmt: off |
| 35 | NONE = -1 # No Proprioceptive State |
| 36 | POS_EULER = 1 # EEF XYZ (3) + Roll-Pitch-Yaw (3) + <PAD> (1) + Gripper Open/Close (1) |
| 37 | POS_QUAT = 2 # EEF XYZ (3) + Quaternion (4) + Gripper Open/Close (1) |
| 38 | JOINT = 3 # Joint Angles (7, <PAD> if fewer) + Gripper Open/Close (1) |
| 39 | JOINT_BIMANUAL = 4 # Joint Angles (2 x [ Joint Angles (6) + Gripper Open/Close (1) ]) |
| 40 | # fmt: on |
| 41 | |
| 42 | |
| 43 | # Defines Action Encoding Schemes |
nothing calls this directly
no outgoing calls
no test coverage detected