Defines supported action encoding schemes for different datasets.
| 27 | |
| 28 | |
| 29 | class ActionEncoding(IntEnum): |
| 30 | """Defines supported action encoding schemes for different datasets.""" |
| 31 | |
| 32 | EEF_POS = 1 # EEF delta XYZ + roll-pitch-yaw + gripper open/close |
| 33 | JOINT_POS = 2 # 7 x joint delta position + gripper open/close |
| 34 | JOINT_POS_BIMANUAL = 3 # 2 x [6 x joint pos + gripper] |
| 35 | NAV_2D = 4 # [delta_x, delta_y] waypoint |
| 36 | JOINT_POS_BIMANUAL_NAV = ( |
| 37 | 5 # 2 x [6 x joint pos + gripper] + linear base vel + angular base vel |
| 38 | ) |
| 39 | |
| 40 | |
| 41 | OXE_DATASET_CONFIGS = { |
nothing calls this directly
no outgoing calls
no test coverage detected