unilab.envs.manipulation.sharpa_inhand.base.SharpaObservationConfig

class unilab.envs.manipulation.sharpa_inhand.base.SharpaObservationConfig[source]

Bases: object

SharpaObservationConfig(observation_mode: ‘str’ = ‘separated’, enable_tactile: ‘bool’ = True, binary_contact: ‘bool’ = False, enable_contact_pos: ‘bool’ = False, contact_smooth: ‘float’ = 0.5, contact_threshold: ‘float’ = 0.05, tactile_force_clip_max: ‘float’ = 4.0)

Parameters:

  • observation_mode (str)

  • enable_tactile (bool)

  • binary_contact (bool)

  • enable_contact_pos (bool)

  • contact_smooth (float)

  • contact_threshold (float)

  • tactile_force_clip_max (float)

Methods

__init__([observation_mode, enable_tactile, ...])

Attributes

binary_contact

contact_smooth

contact_threshold

enable_contact_pos

enable_tactile

observation_mode

tactile_force_clip_max

observation_mode: str = 'separated'
enable_tactile: bool = True
binary_contact: bool = False
enable_contact_pos: bool = False
contact_smooth: float = 0.5
contact_threshold: float = 0.05
tactile_force_clip_max: float = 4.0
__init__(observation_mode='separated', enable_tactile=True, binary_contact=False, enable_contact_pos=False, contact_smooth=0.5, contact_threshold=0.05, tactile_force_clip_max=4.0)
Parameters:

  • observation_mode (str)

  • enable_tactile (bool)

  • binary_contact (bool)

  • enable_contact_pos (bool)

  • contact_smooth (float)

  • contact_threshold (float)

  • tactile_force_clip_max (float)