Defines supported proprio encoding schemes for different datasets.
| 16 | |
| 17 | |
| 18 | class ProprioEncoding(IntEnum): |
| 19 | """Defines supported proprio encoding schemes for different datasets.""" |
| 20 | |
| 21 | NONE = -1 # no proprio provided |
| 22 | POS_EULER = 1 # EEF XYZ + roll-pitch-yaw + gripper open/close |
| 23 | POS_QUAT = 2 # EEF XYZ + quaternion + gripper open/close |
| 24 | JOINT = 3 # joint angles + gripper open/close |
| 25 | JOINT_BIMANUAL = 4 # 2 x [6 x joint angles + gripper open/close] |
| 26 | POS_NAV = 5 # XY + yaw |
| 27 | |
| 28 | |
| 29 | class ActionEncoding(IntEnum): |
nothing calls this directly
no outgoing calls
no test coverage detected