Refactors LiftingCommand to PositionCommand #389
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Minor comment: It's technically not a pose command because we are only specifying a position for the cube. |
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You're completely right! |
louislelay
changed the title
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LiftingCommandwas handling position targets, cube randomization, and success metrics. This PR separates those concerns: the command (renamedPositionCommand) now only provides position targets, cube randomization moves to an interval event, and success metrics move to a class-basedbring_object_reward. The cube also gets an explicit init state in its entity config.