reference/generated/torchrl.envs.transforms.RobotMacroActionMode

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RobotMacroActionMode

class torchrl.envs.transforms.RobotMacroActionMode(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Readable modes for RobotMacroAction.

RobotMacroActionMode mirrors the URScript primitive set and adds RESET. The reset mode requires a parent environment exposing robot_home_qpos.

Examples

>>> from torchrl.envs import RobotMacroActionMode
>>> RobotMacroActionMode.REACH_POSE.name
'REACH_POSE'