reference/generated/torchrl.envs.transforms.URScriptPrimitive

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URScriptPrimitive

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

Integer ids for URScript-style robot primitives.

The ids are specific to UR-style arm control with a binary gripper command; they extend the generic MacroPrimitive vocabulary (WAIT/MOVE) with joint, Cartesian and gripper moves.

Examples

>>> from torchrl.envs import URScriptPrimitive
>>> str(URScriptPrimitive.OPEN_GRIPPER)
'open_gripper'