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@@ -63,11 +63,11 @@ AtomicActionEngine ◄─────────────── PlanResult
The following actions are available out of the box:
-| Action | Config class | Target type | Motion phases |
-|---|---|---|---|
-| `MoveAction` | `MoveActionCfg` | `Tensor (4,4)` — EEF pose | Move arm to pose |
-| `PickUpAction` | `PickUpActionCfg` | `ObjectSemantics` or `Tensor (4,4)` | Approach → close gripper → lift |
-| `PlaceAction` | `PlaceActionCfg` | `Tensor (4,4)` — EEF release pose | Lower → open gripper → retract |
+| Atomic action | Single arm / dual arm | Target type| Motion phases | GIF |
+|---|---|---|---|---|
+| `MoveAction` | Single arm | `Tensor (4,4)` — EEF pose | Approach → close gripper → lift |
|
+| `PickUpAction` | Single arm | `ObjectSemantics` or `Tensor (4,4)` | Move arm to pose |
|
+| `PlaceAction` | Single arm | `Tensor (4,4)` — EEF release pose | Lower → open gripper → retract |
|
### `MoveAction`